MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

23.1s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	30.1s	15 errors · 309 warnings · 1144 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/2026-07-14-21-07-19-105324-e5f6949cdcf8-9071 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 12.65sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' + 12.65sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 12.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 12.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 12.73sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 12.74sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 12.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 12.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×2 + 12.79sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 12.80sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 12.80sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 12.81sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 12.82sINFOcontroller_managerupdate rate is 600 Hz + 12.82sINFOcontroller_managerOverruns handling is : enabled + 12.82sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 12.82sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 12.83sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503004 ms (missed cycles : 2). + 12.88sINFOros2_control_node-7process started with pid [9127] ×2 + 12.88sINFOmove_group-19process started with pid [9205] ×2 + 12.88sINFOparameter_manager_node-20process started with pid [9206] ×2 + 12.88sINFOwaypoint_manager_node-21process started with pid [9207] ×2 + 12.88sINFOmove_joint_resampler_node-22process started with pid [9208] ×2 + 12.88sINFOmove_end_effector_resampler_node-23process started with pid [9253] ×2 + 12.88sINFOobjective_server_node_main-24process started with pid [9254] ×2 + 12.88sINFOcomponent_container_mt-25process started with pid [9255] ×2 + 12.88sINFOcomponent_container_mt-26process started with pid [9256] ×2 + 12.88sINFOexecute_objective_bridge-27process started with pid [9257] ×2 + 12.88sINFOui_teleop_bridge-28process started with pid [9260] ×2 + 12.88sINFOweb_bridge-29process started with pid [9261] ×2 + 12.88sINFOtf2_web_republisher_node-30process started with pid [9262] ×2 + 12.88sINFOweb_video_server-31process started with pid [9279] ×2 + 12.89sINFOcontroller_serverCreating controller server + 12.91sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 12.91sINFOcomponent_container_isolated-1process started with pid [9121] ×2 + 12.91sINFOstatic_transform_publisher-2process started with pid [9122] ×2 + 12.91sINFOstatic_transform_publisher-3process started with pid [9123] ×2 + 12.91sINFOodom_qos_relay.py-4process started with pid [9124] ×2 + 12.91sINFOscan_to_scan_filter_chain-5process started with pid [9125] ×2 + 12.91sINFOscan_to_scan_filter_chain-6process started with pid [9126] ×2 + 12.91sINFOros2-8process started with pid [9128] ×2 + 12.91sINFOros2-9process started with pid [9195] ×2 + 12.91sINFOros2-10process started with pid [9196] ×2 + 12.91sINFOros2-11process started with pid [9197] ×2 + 12.91sINFOros2-12process started with pid [9198] ×2 + 12.91sINFOros2-13process started with pid [9199] ×2 + 12.91sINFOros2-14process started with pid [9200] ×2 + 12.91sINFOros2-15process started with pid [9201] ×2 + 12.91sINFOros2-16process started with pid [9202] ×2 + 12.91sINFOros2-17process started with pid [9203] ×2 + 12.91sINFOros2-18process started with pid [9204] ×2 + 12.93sINFOlocal_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. + 12.94sINFOlocal_costmap.local_costmapCreating Costmap + 12.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 12.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 12.97sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 12.97sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 12.97sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 12.97sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 12.97sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 12.97sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 12.97sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 12.97sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 12.97sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 12.97sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 12.97sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 12.97sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503004 ms (missed cycles : 2).[0m ×2 + 13.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 13.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 13.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.08sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.08sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.09sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.09sINFOmap_serverCreating + 13.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.10sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 13.10sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 13.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 13.12sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.13sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.13sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.13sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.14sINFOsmoother_serverCreating smoother server + 13.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×2 + 13.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.22sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.25sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.26sINFOrobot_state_publisherRobot initialized + 13.26sINFOplanner_serverCreating + 13.27sINFOcontroller_managerReceived robot description from topic. + 13.27sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.27sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.27sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.27sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.30sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.30sINFOglobal_costmap.global_costmapCreating Costmap + 13.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.31sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.31sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.35sINFOlifecycle_manager_localizationCreating + 13.35sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.35sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.37sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.37sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.37sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 13.38sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.38sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.38sINFOmap_serverConfiguring + 13.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.40sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 13.41sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.42sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 13.42sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 13.42sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 13.42sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 13.42sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 13.42sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 13.42sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 13.42sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 13.42sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 13.42sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 13.42sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.42sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 13.42sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 13.42sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 13.42sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 13.42sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 13.42sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 13.42sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 13.42sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 13.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 13.46sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 13.46sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 13.47sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 13.47sINFOamclConfiguring + 13.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.48sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 13.48sINFOmap_serverActivating + 13.48sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 13.48sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 13.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.54sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.56sINFObt_navigatorCreating + 13.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 13.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 13.58sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.412576 seconds + 13.58sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.58sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.58sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 13.58sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 13.58sINFOmove_groupLoaded robot model in 0.412576 seconds[0m ×2 + 13.58sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 13.58sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 13.61sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.61sINFOlifecycle_manager_localizationServer map_server connected with bond. + 13.61sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 13.61sINFOamclActivating + 13.61sINFOamclSubscribed to initial_pose_topic: /initialpose + 13.62sINFOwaypoint_followerCreating + 13.62sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 13.63sINFOamclSubscribed to map_topic: /map + 13.64sINFOamclSubscribed to scan_topic: /scan_merged + 13.64sINFOamclCreated reinitialize_global_localization service + 13.64sINFOamclCreated request_nomotion_update service + 13.64sINFOamclA new map was received + 13.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 13.65sINFOamclInitializing particle filter instance + 13.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 13.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.66sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 13.66sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 13.66sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 13.69sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 13.73sINFOlifecycle_manager_navigationCreating + 13.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 13.74sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.77sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 13.77sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 13.77sINFOcontroller_serverConfiguring controller interface + 13.77sINFOcontroller_servergetting progress checker plugins.. + 13.77sINFOcontroller_servergetting goal checker plugins.. + 13.77sINFOcontroller_serverController frequency set to 20.0000Hz + 13.77sINFOlocal_costmap.local_costmapConfiguring + 13.77sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 13.80sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 13.85sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 13.85sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 13.86sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 13.89sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 13.90sINFOcontroller_serverController Server has progress_checker progress checkers available. + 13.90sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 13.91sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 13.92sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 13.95sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 13.96sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 13.96sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 13.97sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 13.97sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 13.98sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 13.98sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 13.99sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 13.99sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 13.99sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 13.99sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 13.99sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 13.99sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 13.99sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 13.99sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 13.99sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.00sINFOcontroller_serverOptimizer reset + 14.00sINFOcontroller_serverController Server has FollowPath controllers available. + 14.02sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.02sINFOsmoother_serverConfiguring smoother server + 14.04sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.05sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.08sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.08sINFOplanner_serverConfiguring + 14.08sINFOglobal_costmap.global_costmapConfiguring + 14.09sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.09sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.09sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.09sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.10sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.10sINFOwaypoint_manager_nodeLoaded robot model in 0.412327 seconds[0m ×2 + 14.10sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 14.10sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.12sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.12sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.12sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 14.12sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.12sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.13sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.16sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner + 14.16sINFOplanner_serverCleaning up + 14.16sINFOglobal_costmap.global_costmapCleaning up + 14.16sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.20sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 14.20sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850297 ms (missed cycles : 2). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850297 ms (missed cycles : 2).[0m ×2 + 14.29sINFOamclParticle filter initialization completed + 14.29sINFOamclInitializing particles from estimated pose and covariance + 14.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 14.30sINFOamclThe bond connection to the lifecycle manager is now fully formed + 14.30sINFOlifecycle_manager_localizationServer amcl connected with bond. + 14.30sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 14.30sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 14.71sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 14.71sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 14.72sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 14.72sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 14.72sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 14.72sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 14.72sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 14.72sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 14.72sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 14.72sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 14.73sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 14.73sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 14.73sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 14.73sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 14.73sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 14.74sINFOmove_groupStarting planning scene monitor[0m ×2 + 14.74sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 14.74sINFOmove_groupListening to '/planning_scene'[0m ×2 + 14.74sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 14.74sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 14.75sINFOmove_groupListening to 'collision_object'[0m ×2 + 14.75sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 14.83sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 14.83sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×10 + 14.90sWARNwaypoint_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. + 14.90sWARNwaypoint_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 + 14.90sWARNwaypoint_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. + 14.91sWARNwaypoint_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 + 14.91sWARNwaypoint_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. + 14.91sWARNwaypoint_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. + 14.91sWARNwaypoint_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. + 14.91sWARNwaypoint_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. + 14.91sWARNwaypoint_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. + 14.91sWARNwaypoint_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. + 14.91sWARNwaypoint_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. + 14.91sWARNwaypoint_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. + 14.91sWARNwaypoint_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. + 14.91sWARNwaypoint_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. + 14.91sWARNwaypoint_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. + 14.91sWARNwaypoint_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. + 14.91sWARNwaypoint_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 + 14.91sWARNwaypoint_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 + 14.91sWARNwaypoint_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. + 14.91sWARNwaypoint_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 + 14.91sWARNwaypoint_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. + 14.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.91sWARNwaypoint_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 + 14.91sWARNwaypoint_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 + 14.91sWARNwaypoint_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. + 14.91sWARNwaypoint_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 + 14.91sWARNwaypoint_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 + 14.91sWARNwaypoint_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 + 14.92sWARNwaypoint_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 + 14.92sWARNwaypoint_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 + 14.92sWARNwaypoint_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 + 14.92sWARNwaypoint_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 + 14.92sWARNwaypoint_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 + 14.92sWARNwaypoint_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. + 14.92sWARNwaypoint_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 + 14.92sWARNwaypoint_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. + 14.92sWARNwaypoint_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 + 14.92sWARNwaypoint_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. + 14.92sWARNwaypoint_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 + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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 + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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 + 14.93sWARNwaypoint_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 + 14.93sWARNwaypoint_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 + 14.93sWARNwaypoint_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. + 14.94sWARNwaypoint_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. + 14.94sWARNwaypoint_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 + 14.94sWARNwaypoint_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 + 14.94sWARNwaypoint_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. + 14.94sWARNwaypoint_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 + 14.94sWARNwaypoint_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. + 14.95sWARNwaypoint_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 + 14.95sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 14.95sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 14.96sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 14.96sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817676 ms (missed cycles : 2). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817676 ms (missed cycles : 2).[0m ×2 + 15.42sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 15.42sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.43sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 15.67sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 15.67sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 15.67sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 15.67sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 15.67sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 15.68sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 15.68sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 15.68sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 15.68sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 15.68sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 15.68sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 15.68sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 15.68sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 15.68sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 15.68sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 15.68sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 15.68sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 15.68sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 15.68sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 15.68sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 15.68sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 15.68sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 15.68sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 15.68sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 15.72sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.72sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.72sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 15.83sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 15.84sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 15.84sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 15.84sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 15.84sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 + 15.84sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 [0m ×2 + 15.87sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 15.87sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 15.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 15.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 15.87sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 15.87sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 15.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 15.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 15.87sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 15.87sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 15.88sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 15.88sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 15.89sINFOcontroller_managerSuccessfully switched controllers! ×7 + 15.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 15.89sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 15.89sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 16.03sINFOamclParticle filter update iteration stats: 2324 particles 723 points - 3.773ms + 16.04sINFOobjective_server_node[2026-07-14 21:07:38.319] [moveit_pro_license] [info] ×2 + 16.04sINFOobjective_server_node************************************************* ×4 + 16.04sINFOobjective_server_node* MoveIt Pro License ×2 + 16.04sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 16.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 16.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.07sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 16.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 16.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 16.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 16.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 16.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 16.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 16.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 16.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 16.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 16.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 16.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 16.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 16.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 16.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 16.12sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 16.12sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 16.12sINFOobjective_server_nodeLoaded robot model in 0.030694 seconds[0m ×2 + 16.13sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 16.13sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.22sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 16.22sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 16.22sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 16.22sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 16.24sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 + 16.24sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 [0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463996 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463996 ms (missed cycles : 2).[0m ×2 + 16.27sINFOros2-10process has finished cleanly [pid 9196] ×2 + 16.33sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 16.33sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 16.33sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 16.33sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 16.34sINFOplatform_velocity_controllerconfigure successful + 16.35sINFOros2_control_nodeconfigure successful[0m ×6 + 16.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 16.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.35sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 16.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.35sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.36sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 16.36sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 16.37sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 16.47sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 16.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 16.48sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 16.50sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 16.50sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 16.51sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 16.51sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 16.51sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 16.51sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 16.51sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 16.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.51sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 16.51sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 16.51sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 16.52sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.52sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.52sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.61sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 16.61sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 16.63sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 16.63sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 16.63sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 16.63sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 16.63sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 16.63sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 16.63sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 16.67sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 16.67sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 16.67sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 16.67sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 16.67sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 + 16.67sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 [0m ×2 + 16.71sINFOros2-11process has finished cleanly [pid 9197] ×2 + 16.72sINFOmove_groupMoveGroup debug mode is ON + 16.72sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 16.72sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 16.75sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 16.75sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 16.75sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 16.75sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 16.76sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 16.76sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 16.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.77sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.77sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 16.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.77sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.77sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 16.77sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 16.78sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 16.78sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 16.78sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 16.78sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 16.79sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 16.79sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 16.79sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 16.79sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 16.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.82sINFOcomponent_container_mtLoaded robot model in 0.453344 seconds[0m ×2 + 16.82sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 16.83sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.84sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 16.84sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 16.84sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 16.90sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 16.90sINFOmove_group ×8 + 16.90sINFOmove_group****************************************************** ×4 + 16.90sINFOmove_group* MoveGroup using: ×2 + 16.90sINFOmove_group* - apply_planning_scene_service ×2 + 16.90sINFOmove_group* - clear_octomap_service ×2 + 16.90sINFOmove_group* - get_group_urdf ×2 + 16.90sINFOmove_group* - load_geometry_from_file ×2 + 16.90sINFOmove_group* - get_planning_scene_service ×2 + 16.90sINFOmove_group* - kinematics_service ×2 + 16.90sINFOmove_group* - save_geometry_to_file ×2 + 16.90sINFOmove_group* - GetPlanningGroups ×2 + 16.90sINFOmove_group* - URDFPlanningSceneCapability ×2 + 16.90sINFOmove_group[0m ×2 + 16.90sINFOmove_group[92mYou can start planning now![0m ×2 + 16.93sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784063258.090 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 17.08sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 17.08sINFOcontroller_managerLoading controller 'velocity_force_controller' + 17.08sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 17.08sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 17.13sINFOros2-9process has finished cleanly [pid 9195] ×2 + 17.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.27sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 + 17.27sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 [0m ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737463 ms (missed cycles : 2). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737463 ms (missed cycles : 2).[0m ×2 + 17.35sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 17.35sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 17.36sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 17.36sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 17.38sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 17.38sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 17.64sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 17.64sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 17.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 17.66sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 17.73sINFOros2_control_node[2026-07-14 21:07:40.013] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 17.74sINFOros2_control_node[2026-07-14 21:07:40.019] [info] Controller state will be published at 10 Hz. ×2 + 17.74sINFOros2_control_node[2026-07-14 21:07:40.020] [info] VelocityForceController 'on_configure' succeeded. ×2 + 17.80sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 17.83sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 17.83sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 17.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 18.10sINFOros2-15process has finished cleanly [pid 9201] ×2 + 18.10sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 18.10sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.10sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 18.11sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.11sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 18.19sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 + 18.19sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 [0m ×2 + 18.22sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 18.23sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 18.23sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 18.23sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264847 ms (missed cycles : 5). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264847 ms (missed cycles : 5).[0m ×2 + 18.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 18.85sINFOros2_control_node[2026-07-14 21:07:41.133] [info] Controller state will be published at 20 Hz. ×2 + 18.85sINFOros2_control_node[2026-07-14 21:07:41.134] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.19sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 19.19sINFOcontroller_managerLoading controller 'vacuum_gripper' + 19.19sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 19.19sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 19.20sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 + 19.20sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 [0m ×2 + 19.22sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 19.22sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 19.23sINFOros2-18process has finished cleanly [pid 9204] ×2 + 19.27sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 19.27sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 19.27sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 19.27sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 19.27sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 19.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 19.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 19.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 19.28sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 19.28sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224300 ms (missed cycles : 3). + 19.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224300 ms (missed cycles : 3).[0m ×2 + 19.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 19.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 19.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 19.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 19.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 + 19.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 [0m ×2 + 19.65sINFOros2-12process has finished cleanly [pid 9198] ×2 + 19.71sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 19.71sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 19.71sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 19.71sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 19.72sINFOforce_torque_sensor_broadcasterconfigure successful + 19.72sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 19.72sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 19.73sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 19.73sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.09sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.09sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 20.09sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.09sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 20.09sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 + 20.09sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 [0m ×2 + 20.14sINFOros2-8process has finished cleanly [pid 9128] ×2 + 20.17sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 20.18sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 20.19sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 20.19sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 20.20sINFOplatform_velocity_controller_nav2configure successful + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950927 ms (missed cycles : 2). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950927 ms (missed cycles : 2).[0m ×2 + 20.58sINFOros2-13process has finished cleanly [pid 9199] ×2 + 20.58sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 20.58sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.58sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 20.58sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.58sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 20.58sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 + 20.58sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 [0m ×2 + 20.62sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 20.62sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 20.63sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 20.63sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 20.99sINFOros2_control_node[2026-07-14 21:07:43.269] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.99sINFOros2_control_node[2026-07-14 21:07:43.272] [info] Controller state will be published at 10 Hz. ×2 + 20.99sINFOros2_control_node[2026-07-14 21:07:43.273] [info] VelocityForceController 'on_configure' succeeded. ×2 + 21.38sINFOros2-16process has finished cleanly [pid 9202] ×2 + 21.40sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 21.41sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 21.41sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 21.41sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 21.41sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 21.41sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 + 21.41sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 [0m ×2 + 21.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018291 ms (missed cycles : 2). + 21.51sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 21.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018291 ms (missed cycles : 2).[0m ×2 + 21.51sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 21.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 21.52sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 21.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 21.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 21.52sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 21.52sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 21.52sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 21.52sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 21.52sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 21.52sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 21.52sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 21.53sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 21.53sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 21.86sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 21.87sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 21.87sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 21.87sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 21.87sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 21.87sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 + 21.88sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh2g7h1e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__sryikvl --params-file /tmp/launch_params_n52bei55 [0m ×2 + 21.89sINFOros2-14process has finished cleanly [pid 9200] ×2 + 21.91sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 21.91sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 21.91sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 21.92sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 22.26sINFOros2_control_node[2026-07-14 21:07:44.541] [info] Controller state will be published at 20 Hz. ×2 + 22.26sINFOros2_control_node[2026-07-14 21:07:44.542] [info] JointVelocityController 'on_configure' succeeded. ×2 + 22.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 22.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 22.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005721 ms (missed cycles : 2). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005721 ms (missed cycles : 2).[0m ×2 + 22.61sINFOros2-17process has finished cleanly [pid 9203] ×2 + 23.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3). + 23.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3).[0m ×2 + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3).[0m ×2 + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 25.73sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 27.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 27.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 27.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 27.48sINFOmove_groupClearing octomap...[0m ×2 + 27.48sINFOmove_groupOctomap cleared.[0m ×2 + 27.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 27.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 27.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 28.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 28.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 28.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 28.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 28.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 28.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 29.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 29.38sINFOobjective_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 + 29.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 29.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 29.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 29.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 29.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 29.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 29.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 29.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 29.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 29.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 29.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 29.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives

12 pass25 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	74.2s	3 errors · 237 warnings · 217 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401426 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401426 ms (missed cycles : 2).[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 4673 particles 723 points - 5.651ms + 0.62sINFOamclParticle filter update iteration stats: 4363 particles 723 points - 4.836ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003753 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003753 ms (missed cycles : 2).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 3721 particles 723 points - 5.569ms + 1.62sINFOamclParticle filter update iteration stats: 3471 particles 723 points - 4.572ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401003 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401003 ms (missed cycles : 3).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 3211 particles 723 points - 4.451ms + 2.61sINFOamclParticle filter update iteration stats: 3107 particles 723 points - 3.350ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901955 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901955 ms (missed cycles : 2).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 2909 particles 723 points - 3.292ms + 3.61sINFOamclParticle filter update iteration stats: 2659 particles 723 points - 2.806ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867384 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867384 ms (missed cycles : 2).[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 2376 particles 723 points - 2.534ms + 4.12sINFOjoint_trajectory_controllerGot request to cancel goal + 4.12sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784063476.46556783 seconds ×3 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.645ms + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.839ms + 4.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.915ms + 4.72sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784063477.02263308 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.641ms + 5.09sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407191 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407191 ms (missed cycles : 2).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.123ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.018ms + 5.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.917ms + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846718 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846718 ms (missed cycles : 2).[0m ×2 + 6.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.887ms + 6.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 6.44sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.44sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.44sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.000ms + 6.91sINFOamclParticle filter update iteration stats: 4818 particles 723 points - 5.426ms + 7.22sINFOamclParticle filter update iteration stats: 4094 particles 723 points - 7.003ms + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760994 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760994 ms (missed cycles : 2).[0m ×2 + 7.50sINFOamclParticle filter update iteration stats: 3097 particles 723 points - 4.678ms + 8.22sINFOamclParticle filter update iteration stats: 2229 particles 723 points - 3.121ms + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221640 ms (missed cycles : 6). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221640 ms (missed cycles : 6).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 2.465ms + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052328 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052328 ms (missed cycles : 2).[0m ×2 + 9.80sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 1.614ms + 10.31sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.457ms + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502233 ms (missed cycles : 2). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502233 ms (missed cycles : 2).[0m ×2 + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 11.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785028 ms (missed cycles : 3). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785028 ms (missed cycles : 3).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 12.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798308 ms (missed cycles : 2). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798308 ms (missed cycles : 2).[0m ×2 + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 13.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.501277 ms (missed cycles : 6). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.501277 ms (missed cycles : 6).[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 14.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.746884 ms (missed cycles : 5). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.746884 ms (missed cycles : 5).[0m ×2 + 14.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933978 ms (missed cycles : 3). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933978 ms (missed cycles : 3).[0m ×2 + 15.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913408 ms (missed cycles : 2). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913408 ms (missed cycles : 2).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 17.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.798ms + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279511 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279511 ms (missed cycles : 2).[0m ×2 + 18.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947231 ms (missed cycles : 2). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947231 ms (missed cycles : 2).[0m ×2 + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms ×2 + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.785ms + 19.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639584 ms (missed cycles : 3). + 19.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639584 ms (missed cycles : 3).[0m ×2 + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.826ms ×2 + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223861 ms (missed cycles : 2). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223861 ms (missed cycles : 2).[0m ×2 + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.815ms + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196764 ms (missed cycles : 2). + 21.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196764 ms (missed cycles : 2).[0m ×2 + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.128ms + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832578 ms (missed cycles : 2). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832578 ms (missed cycles : 2).[0m ×2 + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 23.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.804ms + 23.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589706 ms (missed cycles : 2). + 23.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589706 ms (missed cycles : 2).[0m ×2 + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 24.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms ×3 + 24.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161367 ms (missed cycles : 3). + 24.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161367 ms (missed cycles : 3).[0m ×2 + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 26.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065849 ms (missed cycles : 2). + 26.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065849 ms (missed cycles : 2).[0m ×2 + 26.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms ×2 + 26.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms ×2 + 27.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.162691 ms (missed cycles : 7). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.162691 ms (missed cycles : 7).[0m ×2 + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 28.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981772 ms (missed cycles : 3). + 28.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981772 ms (missed cycles : 3).[0m ×2 + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.755ms + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 29.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957823 ms (missed cycles : 6). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957823 ms (missed cycles : 6).[0m ×2 + 29.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 29.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 30.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102380 ms (missed cycles : 3). + 30.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102380 ms (missed cycles : 3).[0m ×2 + 30.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 31.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700770 ms (missed cycles : 3). + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700770 ms (missed cycles : 3).[0m ×2 + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.126ms + 32.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 32.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.833983 ms (missed cycles : 6). + 32.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.833983 ms (missed cycles : 6).[0m ×2 + 33.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296981 ms (missed cycles : 2). + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296981 ms (missed cycles : 2).[0m ×2 + 33.73sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.73sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545004 ms (missed cycles : 4). + 34.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545004 ms (missed cycles : 4).[0m ×2 + 35.21sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2). + 35.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2).[0m ×2 + 35.72sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 35.83sINFOobjective_server_nodePlanning for 38 path waypoints. ×3 + 36.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036588 ms (missed cycles : 2). + 36.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036588 ms (missed cycles : 2).[0m ×2 + 37.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989577 ms (missed cycles : 3). + 37.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989577 ms (missed cycles : 3).[0m ×2 + 38.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.787ms + 38.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090406 ms (missed cycles : 2). + 38.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090406 ms (missed cycles : 2).[0m ×2 + 38.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.807ms + 39.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 39.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701650 ms (missed cycles : 4). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701650 ms (missed cycles : 4).[0m ×2 + 39.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 40.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 40.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419132 ms (missed cycles : 3). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419132 ms (missed cycles : 3).[0m ×2 + 41.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 41.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095763 ms (missed cycles : 3). + 41.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095763 ms (missed cycles : 3).[0m ×2 + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962164 ms (missed cycles : 6). + 42.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962164 ms (missed cycles : 6).[0m ×2 + 43.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016005 ms (missed cycles : 6). + 43.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.016005 ms (missed cycles : 6).[0m ×2 + 44.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382553 ms (missed cycles : 3). + 44.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382553 ms (missed cycles : 3).[0m ×2 + 44.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 45.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424321 ms (missed cycles : 4). + 45.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424321 ms (missed cycles : 4).[0m ×2 + 46.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 46.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371211 ms (missed cycles : 3). + 46.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371211 ms (missed cycles : 3).[0m ×2 + 47.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms + 47.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597244 ms (missed cycles : 6). + 47.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597244 ms (missed cycles : 6).[0m ×2 + 48.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 48.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660947 ms (missed cycles : 5). + 48.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660947 ms (missed cycles : 5).[0m ×2 + 49.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 50.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376035 ms (missed cycles : 3). + 50.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376035 ms (missed cycles : 3).[0m ×2 + 50.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 51.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.134387 ms (missed cycles : 6). + 51.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.134387 ms (missed cycles : 6).[0m ×2 + 51.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 52.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501020 ms (missed cycles : 2). + 52.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501020 ms (missed cycles : 2).[0m ×2 + 52.65sINFOobjective_server_nodePlanning for 39 path waypoints. ×3 + 53.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744594 ms (missed cycles : 4). + 53.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744594 ms (missed cycles : 4).[0m ×2 + 54.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094724 ms (missed cycles : 2). + 54.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094724 ms (missed cycles : 2).[0m ×2 + 55.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759706 ms (missed cycles : 3). + 55.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759706 ms (missed cycles : 3).[0m ×2 + 56.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934669 ms (missed cycles : 3). + 56.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934669 ms (missed cycles : 3).[0m ×2 + 57.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032295 ms (missed cycles : 2). + 57.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032295 ms (missed cycles : 2).[0m ×2 + 58.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms ×2 + 58.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293850 ms (missed cycles : 4). + 58.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293850 ms (missed cycles : 4).[0m ×2 + 59.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 59.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234494 ms (missed cycles : 2). + 59.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234494 ms (missed cycles : 2).[0m ×2 + 60.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 60.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984827 ms (missed cycles : 3). + 60.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984827 ms (missed cycles : 3).[0m ×2 + 61.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 61.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.218750 ms (missed cycles : 7). + 61.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.218750 ms (missed cycles : 7).[0m ×2 + 62.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 62.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918756 ms (missed cycles : 3). + 62.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918756 ms (missed cycles : 3).[0m ×2 + 63.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622196 ms (missed cycles : 2). + 63.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622196 ms (missed cycles : 2).[0m ×2 + 63.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.790ms + 64.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.158963 ms (missed cycles : 6). + 64.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.158963 ms (missed cycles : 6).[0m ×2 + 64.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 65.58sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 65.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515887 ms (missed cycles : 7). + 65.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515887 ms (missed cycles : 7).[0m ×2 + 66.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389081 ms (missed cycles : 2). + 66.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389081 ms (missed cycles : 2).[0m ×2 + 67.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471136 ms (missed cycles : 5). + 67.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471136 ms (missed cycles : 5).[0m ×2 + 68.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784646 ms (missed cycles : 3). + 68.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784646 ms (missed cycles : 3).[0m ×2 + 69.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138361 ms (missed cycles : 5). + 69.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138361 ms (missed cycles : 5).[0m ×2 + 69.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.774ms + 70.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.839189 ms (missed cycles : 6). + 70.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.839189 ms (missed cycles : 6).[0m ×2 + 71.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.742ms + 71.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 71.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074316 ms (missed cycles : 6). + 71.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074316 ms (missed cycles : 6).[0m ×2 + 72.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.140ms + 72.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069603 ms (missed cycles : 4). + 72.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069603 ms (missed cycles : 4).[0m ×2 + 73.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 74.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907837 ms (missed cycles : 4). + 74.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907837 ms (missed cycles : 4).[0m ×2 + 75.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2). + 75.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2).[0m ×2 + 76.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2). + 76.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2).[0m ×2 + 76.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 77.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3). + 77.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3).[0m ×2 + 77.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 78.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3). + 78.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3).[0m ×2 + 78.37sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784063550.67281413 seconds ×3 + 78.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.606ms + 78.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.020ms + 78.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.664ms + 78.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784063551.24870396 seconds. ×3 + 79.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 79.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 79.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.935ms + 79.37sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 79.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 79.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.402ms + 80.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5). + 80.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5).[0m ×2 + 80.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.176ms + 80.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.121ms + 80.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.546ms + 81.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms + 81.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6). + 81.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	56.8s	1 error · 183 warnings · 162 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784063315.31016231 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326277 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326277 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784063315.87130070 seconds. ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898402 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898402 ms (missed cycles : 4).[0m ×2 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (2.3501e-05 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.57sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.57sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743287 ms (missed cycles : 4). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743287 ms (missed cycles : 4).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695905 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695905 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784063318.93146038 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784063319.49749970 seconds. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693152 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693152 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×4 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502167 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502167 ms (missed cycles : 2).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687820 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687820 ms (missed cycles : 4).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769961 ms (missed cycles : 5). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769961 ms (missed cycles : 5).[0m ×2 + 8.16sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 2.268ms + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149203 ms (missed cycles : 4). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149203 ms (missed cycles : 4).[0m ×2 + 8.74sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 1.492ms + 9.25sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 1.651ms + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387536 ms (missed cycles : 3). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387536 ms (missed cycles : 3).[0m ×2 + 9.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 10.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.443734 ms (missed cycles : 5). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.443734 ms (missed cycles : 5).[0m ×2 + 10.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 11.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352710 ms (missed cycles : 3). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352710 ms (missed cycles : 3).[0m ×2 + 11.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.204ms + 12.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393699 ms (missed cycles : 3). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393699 ms (missed cycles : 3).[0m ×2 + 12.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 12.75sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391339 ms (missed cycles : 4). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391339 ms (missed cycles : 4).[0m ×2 + 13.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 14.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209774 ms (missed cycles : 3). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209774 ms (missed cycles : 3).[0m ×2 + 14.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 15.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794168 ms (missed cycles : 2). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794168 ms (missed cycles : 2).[0m ×2 + 15.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 16.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585296 ms (missed cycles : 4). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585296 ms (missed cycles : 4).[0m ×2 + 16.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 17.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279336 ms (missed cycles : 3). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279336 ms (missed cycles : 3).[0m ×2 + 17.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 18.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994265 ms (missed cycles : 2). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994265 ms (missed cycles : 2).[0m ×2 + 18.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 19.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 19.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423003 ms (missed cycles : 2). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423003 ms (missed cycles : 2).[0m ×2 + 20.39sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1784063335.390671 but the latest data is at time 1784063335.290762, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.218ms + 20.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170934 ms (missed cycles : 2). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170934 ms (missed cycles : 2).[0m ×2 + 20.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875761 ms (missed cycles : 3). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875761 ms (missed cycles : 3).[0m ×2 + 21.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.145ms + 22.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 22.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 22.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474281 ms (missed cycles : 4). + 22.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474281 ms (missed cycles : 4).[0m ×2 + 23.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms + 23.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697894 ms (missed cycles : 6). + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697894 ms (missed cycles : 6).[0m ×2 + 24.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms ×2 + 24.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.759ms + 24.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450660 ms (missed cycles : 3). + 24.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450660 ms (missed cycles : 3).[0m ×2 + 25.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 25.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 25.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808404 ms (missed cycles : 3). + 25.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808404 ms (missed cycles : 3).[0m ×2 + 26.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 26.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.774ms + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006804 ms (missed cycles : 2). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006804 ms (missed cycles : 2).[0m ×2 + 27.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.748ms + 27.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 28.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792936 ms (missed cycles : 2). + 28.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792936 ms (missed cycles : 2).[0m ×2 + 28.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.076ms + 28.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.225131 ms (missed cycles : 7). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.225131 ms (missed cycles : 7).[0m ×2 + 29.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 29.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815465 ms (missed cycles : 6). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815465 ms (missed cycles : 6).[0m ×2 + 30.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 30.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 31.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777798 ms (missed cycles : 4). + 31.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777798 ms (missed cycles : 4).[0m ×2 + 31.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms ×2 + 32.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795518 ms (missed cycles : 4). + 32.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795518 ms (missed cycles : 4).[0m ×2 + 32.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610414 ms (missed cycles : 4). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610414 ms (missed cycles : 4).[0m ×2 + 33.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825498 ms (missed cycles : 2). + 34.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825498 ms (missed cycles : 2).[0m ×2 + 34.86sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.899971 ms (missed cycles : 6). + 35.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.899971 ms (missed cycles : 6).[0m ×2 + 36.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775559 ms (missed cycles : 4). + 36.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775559 ms (missed cycles : 4).[0m ×2 + 37.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634577 ms (missed cycles : 4). + 37.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634577 ms (missed cycles : 4).[0m ×2 + 38.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495189 ms (missed cycles : 4). + 38.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495189 ms (missed cycles : 4).[0m ×2 + 39.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719241 ms (missed cycles : 3). + 39.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719241 ms (missed cycles : 3).[0m ×2 + 40.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238022 ms (missed cycles : 3). + 40.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238022 ms (missed cycles : 3).[0m ×2 + 40.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 41.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649688 ms (missed cycles : 3). + 41.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649688 ms (missed cycles : 3).[0m ×2 + 42.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144093 ms (missed cycles : 3). + 42.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144093 ms (missed cycles : 3).[0m ×2 + 43.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211483 ms (missed cycles : 3). + 43.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211483 ms (missed cycles : 3).[0m ×2 + 44.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936790 ms (missed cycles : 2). + 44.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936790 ms (missed cycles : 2).[0m ×2 + 45.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585311 ms (missed cycles : 2). + 45.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585311 ms (missed cycles : 2).[0m ×2 + 46.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874187 ms (missed cycles : 2). + 46.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874187 ms (missed cycles : 2).[0m ×2 + 47.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256551 ms (missed cycles : 2). + 47.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256551 ms (missed cycles : 2).[0m ×2 + 48.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 48.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023862 ms (missed cycles : 3). + 48.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023862 ms (missed cycles : 3).[0m ×2 + 49.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194730 ms (missed cycles : 3). + 49.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194730 ms (missed cycles : 3).[0m ×2 + 50.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180391 ms (missed cycles : 2). + 50.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180391 ms (missed cycles : 2).[0m ×2 + 51.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 51.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204612 ms (missed cycles : 2). + 51.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204612 ms (missed cycles : 2).[0m ×2 + 52.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046371 ms (missed cycles : 3). + 52.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046371 ms (missed cycles : 3).[0m ×2 + 53.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669185 ms (missed cycles : 4). + 53.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669185 ms (missed cycles : 4).[0m ×2 + 54.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069363 ms (missed cycles : 2). + 54.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069363 ms (missed cycles : 2).[0m ×2 + 55.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 55.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496590 ms (missed cycles : 2). + 55.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496590 ms (missed cycles : 2).[0m ×2 + 56.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387447 ms (missed cycles : 5). + 56.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387447 ms (missed cycles : 5).[0m ×2 + 58.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037074 ms (missed cycles : 3). + 58.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037074 ms (missed cycles : 3).[0m ×2 + 59.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448989 ms (missed cycles : 2). + 59.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448989 ms (missed cycles : 2).[0m ×2 + 59.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 60.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605693 ms (missed cycles : 7). + 60.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605693 ms (missed cycles : 7).[0m ×2 + 60.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784063375.72843075 seconds ×3 + 60.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.735ms + 60.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.902ms + 61.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784063376.31267285 seconds. ×3 + 61.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102081 ms (missed cycles : 2). + 61.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102081 ms (missed cycles : 2).[0m ×2 + 61.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.110ms + 61.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.645ms + 62.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829028 ms (missed cycles : 3). + 62.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829028 ms (missed cycles : 3).[0m ×2 + 62.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.090ms
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	55.5s	180 warnings · 146 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.33sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784063550.67281413 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.606ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.020ms + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.664ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784063551.24870396 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.935ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 4.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.402ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5).[0m ×2 + 5.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.176ms + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.121ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.546ms + 5.78sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.83sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.230ms + 6.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.205ms + 6.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.751ms + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.856489 ms (missed cycles : 4). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.856489 ms (missed cycles : 4).[0m ×2 + 7.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.337ms + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348130 ms (missed cycles : 5). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348130 ms (missed cycles : 5).[0m ×2 + 8.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.898ms + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755129 ms (missed cycles : 3). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755129 ms (missed cycles : 3).[0m ×2 + 9.39sINFOamclParticle filter update iteration stats: 4042 particles 723 points - 4.723ms + 9.87sINFOamclParticle filter update iteration stats: 2847 particles 723 points - 3.351ms + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148070 ms (missed cycles : 2). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148070 ms (missed cycles : 2).[0m ×2 + 10.38sINFOamclParticle filter update iteration stats: 2040 particles 723 points - 3.043ms + 10.89sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 1.932ms + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333211 ms (missed cycles : 2). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333211 ms (missed cycles : 2).[0m ×2 + 11.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.184ms + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870356 ms (missed cycles : 5). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870356 ms (missed cycles : 5).[0m ×2 + 12.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 12.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024309 ms (missed cycles : 2). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024309 ms (missed cycles : 2).[0m ×2 + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 13.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms ×2 + 14.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838206 ms (missed cycles : 4). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838206 ms (missed cycles : 4).[0m ×2 + 14.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 15.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225587 ms (missed cycles : 6). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225587 ms (missed cycles : 6).[0m ×2 + 15.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 16.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.821ms + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670312 ms (missed cycles : 3). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670312 ms (missed cycles : 3).[0m ×2 + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 17.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.105ms + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.525441 ms (missed cycles : 5). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.525441 ms (missed cycles : 5).[0m ×2 + 17.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 18.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.806ms + 18.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352518 ms (missed cycles : 3). + 18.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352518 ms (missed cycles : 3).[0m ×2 + 18.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 19.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 19.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517922 ms (missed cycles : 2). + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517922 ms (missed cycles : 2).[0m ×2 + 19.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199664 ms (missed cycles : 3). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199664 ms (missed cycles : 3).[0m ×2 + 20.70sINFOros2_control_nodeMuJoCo sim: 1.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 20.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.029ms + 21.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678902 ms (missed cycles : 2). + 21.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678902 ms (missed cycles : 2).[0m ×2 + 21.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms ×2 + 22.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 22.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353607 ms (missed cycles : 4). + 22.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353607 ms (missed cycles : 4).[0m ×2 + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 23.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170788 ms (missed cycles : 3). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170788 ms (missed cycles : 3).[0m ×2 + 23.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 24.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 24.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.232410 ms (missed cycles : 6). + 24.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.232410 ms (missed cycles : 6).[0m ×2 + 24.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 25.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.076ms + 25.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787225 ms (missed cycles : 2). + 25.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787225 ms (missed cycles : 2).[0m ×2 + 25.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.807ms + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 26.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598159 ms (missed cycles : 3). + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598159 ms (missed cycles : 3).[0m ×2 + 26.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 27.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.796ms + 27.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189569 ms (missed cycles : 2). + 27.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189569 ms (missed cycles : 2).[0m ×2 + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040766 ms (missed cycles : 2). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040766 ms (missed cycles : 2).[0m ×2 + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.127ms + 29.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.783ms + 29.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186529 ms (missed cycles : 2). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186529 ms (missed cycles : 2).[0m ×2 + 30.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 30.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489143 ms (missed cycles : 3). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489143 ms (missed cycles : 3).[0m ×2 + 30.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 31.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909115 ms (missed cycles : 2). + 31.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909115 ms (missed cycles : 2).[0m ×2 + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 32.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688707 ms (missed cycles : 2). + 32.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688707 ms (missed cycles : 2).[0m ×2 + 33.10sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791840 ms (missed cycles : 3). + 33.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791840 ms (missed cycles : 3).[0m ×2 + 35.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776519 ms (missed cycles : 2). + 35.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776519 ms (missed cycles : 2).[0m ×2 + 36.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824589 ms (missed cycles : 4). + 36.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824589 ms (missed cycles : 4).[0m ×2 + 37.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612376 ms (missed cycles : 2). + 37.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612376 ms (missed cycles : 2).[0m ×2 + 38.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340274 ms (missed cycles : 3). + 38.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340274 ms (missed cycles : 3).[0m ×2 + 39.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538044 ms (missed cycles : 3). + 39.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538044 ms (missed cycles : 3).[0m ×2 + 40.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423720 ms (missed cycles : 2). + 40.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423720 ms (missed cycles : 2).[0m ×2 + 41.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573729 ms (missed cycles : 2). + 41.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573729 ms (missed cycles : 2).[0m ×2 + 42.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049366 ms (missed cycles : 2). + 42.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049366 ms (missed cycles : 2).[0m ×2 + 43.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362165 ms (missed cycles : 4). + 43.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362165 ms (missed cycles : 4).[0m ×2 + 44.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878273 ms (missed cycles : 4). + 44.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878273 ms (missed cycles : 4).[0m ×2 + 45.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605942 ms (missed cycles : 6). + 45.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605942 ms (missed cycles : 6).[0m ×2 + 46.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598723 ms (missed cycles : 2). + 46.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598723 ms (missed cycles : 2).[0m ×2 + 47.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099525 ms (missed cycles : 6). + 47.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099525 ms (missed cycles : 6).[0m ×2 + 47.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 48.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587972 ms (missed cycles : 2). + 48.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587972 ms (missed cycles : 2).[0m ×2 + 49.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2). + 49.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2).[0m ×2 + 49.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 50.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191593 ms (missed cycles : 2). + 50.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191593 ms (missed cycles : 2).[0m ×2 + 51.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500672 ms (missed cycles : 2). + 51.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500672 ms (missed cycles : 2).[0m ×2 + 52.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 52.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 53.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584979 ms (missed cycles : 3). + 53.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584979 ms (missed cycles : 3).[0m ×2 + 54.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 54.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084771 ms (missed cycles : 2). + 54.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084771 ms (missed cycles : 2).[0m ×2 + 55.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014739 ms (missed cycles : 2). + 55.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014739 ms (missed cycles : 2).[0m ×2 + 56.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823674 ms (missed cycles : 4). + 56.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823674 ms (missed cycles : 4).[0m ×2 + 57.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519381 ms (missed cycles : 2). + 57.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519381 ms (missed cycles : 2).[0m ×2 + 57.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 58.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034022 ms (missed cycles : 2). + 58.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034022 ms (missed cycles : 2).[0m ×2 + 58.85sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784063606.17888474 seconds ×3 + 58.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.098ms + 59.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.356ms + 59.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.573ms + 59.42sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784063606.74240255 seconds. ×3 + 59.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.539ms + 59.76sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 59.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 59.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874598 ms (missed cycles : 6). + 59.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874598 ms (missed cycles : 6).[0m ×2 + 60.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493811 ms (missed cycles : 5). + 60.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493811 ms (missed cycles : 5).[0m ×2 + 61.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.506ms
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	53.5s	177 warnings · 168 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.023732 ms (missed cycles : 6). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.023732 ms (missed cycles : 6).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968514 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968514 ms (missed cycles : 2).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536742 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536742 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640609 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640609 ms (missed cycles : 3).[0m ×2 + 3.80sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.81sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784063412.25917172 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.376ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.837ms + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072565 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072565 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784063412.82632661 seconds. ×3 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.618ms + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.392ms + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.346ms + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890407 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890407 ms (missed cycles : 2).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.651ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.202ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.11sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.11sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476534 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476534 ms (missed cycles : 3).[0m ×2 + 6.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.256ms + 6.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.384ms + 7.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.434ms + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243584 ms (missed cycles : 4). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243584 ms (missed cycles : 4).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788550 ms (missed cycles : 4). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788550 ms (missed cycles : 4).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.151ms + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.058089 ms (missed cycles : 6). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.058089 ms (missed cycles : 6).[0m ×2 + 9.49sINFOamclParticle filter update iteration stats: 3938 particles 723 points - 5.360ms + 10.00sINFOamclParticle filter update iteration stats: 2701 particles 723 points - 3.598ms + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723645 ms (missed cycles : 3). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723645 ms (missed cycles : 3).[0m ×2 + 10.51sINFOamclParticle filter update iteration stats: 1640 particles 723 points - 2.728ms + 11.11sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 1.661ms + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.128653 ms (missed cycles : 7). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.128653 ms (missed cycles : 7).[0m ×2 + 11.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.204ms + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726337 ms (missed cycles : 2). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726337 ms (missed cycles : 2).[0m ×2 + 12.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 13.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639353 ms (missed cycles : 2). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639353 ms (missed cycles : 2).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.029940 ms (missed cycles : 6). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.029940 ms (missed cycles : 6).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms ×2 + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.078ms + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971587 ms (missed cycles : 3). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971587 ms (missed cycles : 3).[0m ×2 + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 16.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183977 ms (missed cycles : 3). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183977 ms (missed cycles : 3).[0m ×2 + 16.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 17.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.758ms + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295429 ms (missed cycles : 2). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295429 ms (missed cycles : 2).[0m ×2 + 17.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 18.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193181 ms (missed cycles : 4). + 18.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193181 ms (missed cycles : 4).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481103 ms (missed cycles : 2). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481103 ms (missed cycles : 2).[0m ×2 + 19.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075134 ms (missed cycles : 2). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075134 ms (missed cycles : 2).[0m ×2 + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms ×2 + 21.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767095 ms (missed cycles : 4). + 21.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767095 ms (missed cycles : 4).[0m ×2 + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 22.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112805 ms (missed cycles : 3). + 22.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112805 ms (missed cycles : 3).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.778ms + 23.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844474 ms (missed cycles : 2). + 23.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844474 ms (missed cycles : 2).[0m ×2 + 24.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 24.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.116547 ms (missed cycles : 5). + 24.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.116547 ms (missed cycles : 5).[0m ×2 + 25.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 25.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758392 ms (missed cycles : 3). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758392 ms (missed cycles : 3).[0m ×2 + 26.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 26.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 26.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768176 ms (missed cycles : 2). + 26.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768176 ms (missed cycles : 2).[0m ×2 + 27.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 27.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098656 ms (missed cycles : 2). + 27.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098656 ms (missed cycles : 2).[0m ×2 + 28.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.768ms + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 28.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045053 ms (missed cycles : 2). + 28.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045053 ms (missed cycles : 2).[0m ×2 + 29.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms ×2 + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 29.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992361 ms (missed cycles : 2). + 29.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992361 ms (missed cycles : 2).[0m ×2 + 30.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 30.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911446 ms (missed cycles : 2). + 30.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911446 ms (missed cycles : 2).[0m ×2 + 31.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 31.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 31.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.596995 ms (missed cycles : 6). + 31.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.596995 ms (missed cycles : 6).[0m ×2 + 32.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796935 ms (missed cycles : 2). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796935 ms (missed cycles : 2).[0m ×2 + 34.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079979 ms (missed cycles : 2). + 34.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079979 ms (missed cycles : 2).[0m ×2 + 35.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724786 ms (missed cycles : 2). + 35.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724786 ms (missed cycles : 2).[0m ×2 + 35.80sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051489 ms (missed cycles : 5). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051489 ms (missed cycles : 5).[0m ×2 + 36.43sINFOobjective_server_nodePlanning for 48 path waypoints. ×3 + 37.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019610 ms (missed cycles : 3). + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019610 ms (missed cycles : 3).[0m ×2 + 38.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 38.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751801 ms (missed cycles : 2). + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751801 ms (missed cycles : 2).[0m ×2 + 38.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 39.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 39.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927925 ms (missed cycles : 2). + 39.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927925 ms (missed cycles : 2).[0m ×2 + 39.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 39.61sINFOros2_control_nodeMuJoCo sim: 0.84% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 40.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523142 ms (missed cycles : 4). + 40.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523142 ms (missed cycles : 4).[0m ×2 + 40.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 40.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 41.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727478 ms (missed cycles : 2). + 41.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727478 ms (missed cycles : 2).[0m ×2 + 42.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618476 ms (missed cycles : 4). + 42.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618476 ms (missed cycles : 4).[0m ×2 + 43.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316086 ms (missed cycles : 3). + 43.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316086 ms (missed cycles : 3).[0m ×2 + 44.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784893 ms (missed cycles : 4). + 44.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784893 ms (missed cycles : 4).[0m ×2 + 44.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 45.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014947 ms (missed cycles : 3). + 45.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014947 ms (missed cycles : 3).[0m ×2 + 45.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 46.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047503 ms (missed cycles : 3). + 46.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047503 ms (missed cycles : 3).[0m ×2 + 46.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 47.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322031 ms (missed cycles : 2). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322031 ms (missed cycles : 2).[0m ×2 + 47.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.773ms + 48.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380750 ms (missed cycles : 2). + 48.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380750 ms (missed cycles : 2).[0m ×2 + 48.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 49.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354136 ms (missed cycles : 2). + 49.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354136 ms (missed cycles : 2).[0m ×2 + 49.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 50.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868219 ms (missed cycles : 2). + 50.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868219 ms (missed cycles : 2).[0m ×2 + 51.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965752 ms (missed cycles : 2). + 51.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965752 ms (missed cycles : 2).[0m ×2 + 52.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 52.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584053 ms (missed cycles : 3). + 52.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584053 ms (missed cycles : 3).[0m ×2 + 53.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.759ms + 53.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227199 ms (missed cycles : 2). + 53.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227199 ms (missed cycles : 2).[0m ×2 + 54.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.749ms + 54.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789384 ms (missed cycles : 4). + 54.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789384 ms (missed cycles : 4).[0m ×2 + 55.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708232 ms (missed cycles : 2). + 55.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708232 ms (missed cycles : 2).[0m ×2 + 56.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.049ms + 56.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871329 ms (missed cycles : 3). + 56.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871329 ms (missed cycles : 3).[0m ×2 + 57.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1784063465.74648070 seconds ×3 + 57.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.724ms + 57.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.698ms + 57.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686257 ms (missed cycles : 6). + 57.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686257 ms (missed cycles : 6).[0m ×2 + 57.91sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784063466.30778670 seconds. ×3 + 58.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.900ms + 58.26sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 58.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.508ms + 58.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.085ms + 58.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431131 ms (missed cycles : 5). + 58.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431131 ms (missed cycles : 5).[0m ×2 + 59.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.734ms + 59.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.498ms + 59.57sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 59.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.240ms + 59.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271396 ms (missed cycles : 2). + 59.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271396 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	147 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.67sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192039 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192039 ms (missed cycles : 2).[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896578 ms (missed cycles : 2). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896578 ms (missed cycles : 2).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727499 ms (missed cycles : 5). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727499 ms (missed cycles : 5).[0m ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.035392 ms (missed cycles : 6). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.035392 ms (missed cycles : 6).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772401 ms (missed cycles : 2). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772401 ms (missed cycles : 2).[0m ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322913 ms (missed cycles : 2). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322913 ms (missed cycles : 2).[0m ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393351 ms (missed cycles : 5). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393351 ms (missed cycles : 5).[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093415 ms (missed cycles : 4). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093415 ms (missed cycles : 4).[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302204 ms (missed cycles : 2). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302204 ms (missed cycles : 2).[0m ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026471 ms (missed cycles : 4). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026471 ms (missed cycles : 4).[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907736 ms (missed cycles : 4). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907736 ms (missed cycles : 4).[0m ×2 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134013 ms (missed cycles : 3). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134013 ms (missed cycles : 3).[0m ×2 + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103987 ms (missed cycles : 5). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103987 ms (missed cycles : 5).[0m ×2 + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304981 ms (missed cycles : 2). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304981 ms (missed cycles : 2).[0m ×2 + 20.38sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 2.199ms + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366712 ms (missed cycles : 3). + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366712 ms (missed cycles : 3).[0m ×2 + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483114 ms (missed cycles : 3). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483114 ms (missed cycles : 3).[0m ×2 + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254282 ms (missed cycles : 4). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254282 ms (missed cycles : 4).[0m ×2 + 23.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.119003 ms (missed cycles : 4). + 23.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.119003 ms (missed cycles : 4).[0m ×2 + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690134 ms (missed cycles : 4). + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690134 ms (missed cycles : 4).[0m ×2 + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384913 ms (missed cycles : 3). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384913 ms (missed cycles : 3).[0m ×2 + 26.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101391 ms (missed cycles : 4). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101391 ms (missed cycles : 4).[0m ×2 + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080274 ms (missed cycles : 3). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080274 ms (missed cycles : 3).[0m ×2 + 28.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749483 ms (missed cycles : 4). + 28.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749483 ms (missed cycles : 4).[0m ×2 + 29.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016304 ms (missed cycles : 5). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016304 ms (missed cycles : 5).[0m ×2 + 30.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367207 ms (missed cycles : 2). + 30.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367207 ms (missed cycles : 2).[0m ×2 + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.993602 ms (missed cycles : 6). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.993602 ms (missed cycles : 6).[0m ×2 + 33.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313664 ms (missed cycles : 2). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313664 ms (missed cycles : 2).[0m ×2 + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340102 ms (missed cycles : 2). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340102 ms (missed cycles : 2).[0m ×2 + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321503 ms (missed cycles : 2). + 35.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321503 ms (missed cycles : 2).[0m ×2 + 36.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883476 ms (missed cycles : 3). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883476 ms (missed cycles : 3).[0m ×2 + 37.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.028444 ms (missed cycles : 6). + 37.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.028444 ms (missed cycles : 6).[0m ×2 + 38.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797472 ms (missed cycles : 3). + 38.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797472 ms (missed cycles : 3).[0m ×2 + 39.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500449 ms (missed cycles : 2). + 39.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500449 ms (missed cycles : 2).[0m ×2 + 40.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870205 ms (missed cycles : 3). + 40.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870205 ms (missed cycles : 3).[0m ×2 + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006024 ms (missed cycles : 2). + 41.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006024 ms (missed cycles : 2).[0m ×2 + 42.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571388 ms (missed cycles : 3). + 42.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571388 ms (missed cycles : 3).[0m ×2 + 43.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424052 ms (missed cycles : 2). + 43.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424052 ms (missed cycles : 2).[0m ×2 + 44.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454723 ms (missed cycles : 5). + 44.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454723 ms (missed cycles : 5).[0m ×2 + 45.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256684 ms (missed cycles : 3). + 45.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256684 ms (missed cycles : 3).[0m ×2 + 46.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.492109 ms (missed cycles : 5). + 46.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.492109 ms (missed cycles : 5).[0m ×2 + 47.33sINFOjoint_trajectory_controllerGoal reached, success! + 47.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784063315.31016231 seconds ×3 + 47.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326277 ms (missed cycles : 2). + 47.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326277 ms (missed cycles : 2).[0m ×2 + 47.94sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784063315.87130070 seconds. ×3 + 48.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898402 ms (missed cycles : 4). + 48.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898402 ms (missed cycles : 4).[0m ×2 + 48.88sINFOobjective_server_nodeFound path in 0 iterations (2.3501e-05 s). ×2 + 48.88sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743287 ms (missed cycles : 4). + 49.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743287 ms (missed cycles : 4).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	30.8s	111 warnings · 124 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829028 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829028 ms (missed cycles : 3).[0m ×2 + 0.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.090ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509008 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509008 ms (missed cycles : 6).[0m ×2 + 1.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.531ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502748 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502748 ms (missed cycles : 5).[0m ×2 + 2.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.016ms + 2.84sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.84sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.88sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784063380.41283894 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836370 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836370 ms (missed cycles : 2).[0m ×2 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041930 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041930 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784063381.97898817 seconds. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224035 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224035 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382842 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382842 ms (missed cycles : 2).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.32sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.32sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075785 ms (missed cycles : 3). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075785 ms (missed cycles : 3).[0m ×2 + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976667 ms (missed cycles : 5). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976667 ms (missed cycles : 5).[0m ×2 + 8.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.657ms + 8.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.345ms + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174206 ms (missed cycles : 2). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174206 ms (missed cycles : 2).[0m ×2 + 9.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.900ms + 9.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.094ms + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755796 ms (missed cycles : 2). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755796 ms (missed cycles : 2).[0m ×2 + 10.39sINFOamclParticle filter update iteration stats: 4880 particles 723 points - 5.056ms + 10.48sINFOros2_control_nodeMuJoCo sim: 0.75% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.88sINFOamclParticle filter update iteration stats: 3617 particles 723 points - 4.089ms + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073865 ms (missed cycles : 3). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073865 ms (missed cycles : 3).[0m ×2 + 11.37sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 3.630ms + 11.89sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.241ms + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243146 ms (missed cycles : 2). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243146 ms (missed cycles : 2).[0m ×2 + 12.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 12.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269642 ms (missed cycles : 3). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269642 ms (missed cycles : 3).[0m ×2 + 13.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 13.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027987 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027987 ms (missed cycles : 2).[0m ×2 + 14.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms ×3 + 14.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557613 ms (missed cycles : 3). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557613 ms (missed cycles : 3).[0m ×2 + 15.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 15.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646642 ms (missed cycles : 3). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646642 ms (missed cycles : 3).[0m ×2 + 16.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 16.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 17.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873791 ms (missed cycles : 2). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873791 ms (missed cycles : 2).[0m ×2 + 17.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.208ms + 18.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426819 ms (missed cycles : 4). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426819 ms (missed cycles : 4).[0m ×2 + 18.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 19.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721580 ms (missed cycles : 7). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721580 ms (missed cycles : 7).[0m ×2 + 19.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 20.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468529 ms (missed cycles : 4). + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468529 ms (missed cycles : 4).[0m ×2 + 20.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 21.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906929 ms (missed cycles : 2). + 21.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906929 ms (missed cycles : 2).[0m ×2 + 21.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 22.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.809ms + 22.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595050 ms (missed cycles : 3). + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595050 ms (missed cycles : 3).[0m ×2 + 22.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 23.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.821ms + 23.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237730 ms (missed cycles : 2). + 23.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237730 ms (missed cycles : 2).[0m ×2 + 23.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 24.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892109 ms (missed cycles : 2). + 24.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892109 ms (missed cycles : 2).[0m ×2 + 24.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 25.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178372 ms (missed cycles : 2). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178372 ms (missed cycles : 2).[0m ×2 + 25.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 26.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895568 ms (missed cycles : 2). + 26.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895568 ms (missed cycles : 2).[0m ×2 + 26.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 27.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 27.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762675 ms (missed cycles : 3). + 27.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762675 ms (missed cycles : 3).[0m ×2 + 27.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 28.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048753 ms (missed cycles : 3). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048753 ms (missed cycles : 3).[0m ×2 + 28.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 29.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 29.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076826 ms (missed cycles : 3). + 29.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076826 ms (missed cycles : 3).[0m ×2 + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 30.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 30.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 30.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.023732 ms (missed cycles : 6). + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.023732 ms (missed cycles : 6).[0m ×2 + 31.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 31.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 31.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968514 ms (missed cycles : 2). + 31.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968514 ms (missed cycles : 2).[0m ×2 + 32.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 32.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 32.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536742 ms (missed cycles : 3). + 32.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536742 ms (missed cycles : 3).[0m ×2 + 33.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 33.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640609 ms (missed cycles : 3). + 33.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640609 ms (missed cycles : 3).[0m ×2 + 34.73sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784063412.25917172 seconds ×3 + 34.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.376ms + 34.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.837ms + 34.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072565 ms (missed cycles : 2). + 34.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072565 ms (missed cycles : 2).[0m ×2 + 35.29sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784063412.82632661 seconds. ×3 + 35.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.618ms + 35.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.392ms + 35.65sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 35.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.346ms + 35.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890407 ms (missed cycles : 2). + 35.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890407 ms (missed cycles : 2).[0m ×2 + 36.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.651ms + 36.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.202ms + 36.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 36.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 37.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476534 ms (missed cycles : 3). + 37.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476534 ms (missed cycles : 3).[0m ×2 + 37.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms + 37.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.256ms
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	13.2s	58 warnings · 133 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084771 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084771 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014739 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014739 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823674 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823674 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519381 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519381 ms (missed cycles : 2).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034022 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034022 ms (missed cycles : 2).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.17sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784063606.17888474 seconds ×3 + 4.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.098ms + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.356ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.573ms + 4.75sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784063606.74240255 seconds. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.539ms + 5.10sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874598 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874598 ms (missed cycles : 6).[0m ×2 + 5.14sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.14sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493811 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493811 ms (missed cycles : 5).[0m ×2 + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.506ms + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235754 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235754 ms (missed cycles : 2).[0m ×2 + 8.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.354ms + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976244 ms (missed cycles : 3). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976244 ms (missed cycles : 3).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853195 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853195 ms (missed cycles : 2).[0m ×2 + 9.41sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 9.44sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.47sINFOobjective_server_nodeFound path in 0 iterations (7.6e-07 s). ×2 + 9.50sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.53sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×4 + 9.58sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.75sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.80sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 10.02sINFOobjective_server_nodeFound path in 98 iterations (0.0441921 s). ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067816 ms (missed cycles : 3). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067816 ms (missed cycles : 3).[0m ×2 + 10.31sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X____X] ×2 + 10.37sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 10.76sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.81sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 11.12sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.35sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297772 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297772 ms (missed cycles : 2).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451661 ms (missed cycles : 4). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451661 ms (missed cycles : 4).[0m ×2 + 13.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.085ms + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213540 ms (missed cycles : 3). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213540 ms (missed cycles : 3).[0m ×2 + 13.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.553ms + 14.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.021ms + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323659 ms (missed cycles : 3). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323659 ms (missed cycles : 3).[0m ×2 + 15.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.884ms + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227090 ms (missed cycles : 3). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227090 ms (missed cycles : 3).[0m ×2 + 15.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.073ms + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245351 ms (missed cycles : 3). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245351 ms (missed cycles : 3).[0m ×2 + 16.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.268ms + 17.36sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784063619.34395909 seconds ×3 + 17.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.132ms + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666495 ms (missed cycles : 2). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666495 ms (missed cycles : 2).[0m ×2 + 17.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784063619.93818069 seconds. ×3 + 17.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.95sINFOmove_groupClearing octomap...[0m ×2 + 17.95sINFOmove_groupOctomap cleared.[0m ×2 + 18.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.250ms + 18.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.153ms + 18.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784063620.39046216 seconds ×3 + 18.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.252ms + 18.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.842ms + 18.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738779 ms (missed cycles : 4). + 18.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738779 ms (missed cycles : 4).[0m ×2 + 18.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.719ms + 18.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784063620.94212651 seconds. ×3 + 19.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.461ms + 19.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784063621.37230062 seconds ×3 + 19.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.041ms + 19.62sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448060 ms (missed cycles : 3). + 19.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.557ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.5s	75 errors · 33 warnings · 393 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.021ms + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323659 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323659 ms (missed cycles : 3).[0m ×2 + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.884ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227090 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227090 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.073ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245351 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245351 ms (missed cycles : 3).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.268ms + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784063619.34395909 seconds ×3 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.132ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666495 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666495 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784063619.93818069 seconds. ×3 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.52sINFOmove_groupClearing octomap...[0m ×2 + 3.52sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.250ms + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.153ms + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784063620.39046216 seconds ×3 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.252ms + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.842ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738779 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738779 ms (missed cycles : 4).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.719ms + 4.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784063620.94212651 seconds. ×3 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.461ms + 4.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784063621.37230062 seconds ×3 + 5.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.041ms + 5.18sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448060 ms (missed cycles : 3). + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.557ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.721ms + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448060 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162162 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162162 ms (missed cycles : 3).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.894534 ms (missed cycles : 6). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.894534 ms (missed cycles : 6).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827705 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827705 ms (missed cycles : 2).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607768 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607768 ms (missed cycles : 2).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905135 ms (missed cycles : 3). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905135 ms (missed cycles : 3).[0m ×2 + 11.15sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.20sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.20sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 11.22sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 11.28sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.28sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 11.30sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 11.32sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 11.34sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.36sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 11.39sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 11.41sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 11.43sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 11.45sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 11.48sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 11.49sINFOweb_video_server-31process has finished cleanly [pid 9279] ×2 + 11.50sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 11.51sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.51sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9262] ×2 + 11.53sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 11.53sINFOcontroller_managerShutdown request received.... + 11.53sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.53sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.53sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.53sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.53sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.53sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.53sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.53sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.53sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.53sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.53sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.53sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.53sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.53sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.53sINFOcontroller_managerShutting down the controller manager. + 11.55sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.57sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 11.57sERRORmove_group-19process has died [pid 9205, 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_fr2q8z93 --params-file /tmp/launch_params_lothu4fu --params-file /tmp/launch_params_b6fe8yln --params-file /tmp/launch_params_vrdkct9e --params-file /tmp/launch_params_apcaxha4 --params-file /tmp/launch_params_tg15lvx_']. ×2 + 11.59sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 11.60sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.60sERRORui_teleop_bridge-28process has died [pid 9260, 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_b66he5x0']. ×2 + 11.62sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.62sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.64sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.64sINFOcontroller_serverCleaning up + 11.64sINFOlocal_costmap.local_costmapCleaning up + 11.64sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.64sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.64sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.64sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.64sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 11.64sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.64sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.64sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.64sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.64sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.64sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.64sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.64sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.64sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.65sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.65sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.65sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.65sERRORmove_groupStack trace (most recent call last) in thread 9730: ×2 + 11.65sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.65sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc892ae1a63, in __clone ×2 + 11.65sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc892a54aa3, in ×2 + 11.65sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc892ce6db3, in ×2 + 11.65sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 11.65sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fc89333b1c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.65sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc8930594d0, in rclcpp::Rate::sleep() ×2 + 11.65sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc892faca88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.65sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc892f71a71, in ×2 + 11.65sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc892cb5390, in __cxa_throw ×2 + 11.65sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc892c9fa54, in std::terminate() ×2 + 11.65sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc892cb50d9, in ×2 + 11.65sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc892c9fff4, in ×2 + 11.66sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc8929e08fe, in abort ×2 + 11.66sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc8929fd27d, in raise ×2 + 11.66sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc892a56b2c, in pthread_kill ×2 + 11.66sERRORmove_groupAborted (Signal sent by tkill() 9205 0) ×2 + 11.66sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.66sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.66sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.66sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.66sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.66sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.66sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.66sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.66sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.66sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.66sINFOobjective_server_node[2026-07-14 21:13:47.971] [moveit_pro_license] [info] ×2 + 11.66sINFOobjective_server_node************************************************* ×4 + 11.66sINFOobjective_server_node* MoveIt Pro License ×2 + 11.66sINFOobjective_server_node* Application has successfully terminated ×2 + 11.66sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.66sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.66sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.66sINFOodom_qos_relay.pymain() ×2 + 11.66sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.66sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.66sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.66sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.66sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.66sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.66sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.66sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.66sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.66sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.66sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.66sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.66sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.67sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.67sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.67sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.67sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f868c7e6a4, in _start ×2 + 11.67sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f217c53d28a, in __libc_start_main ×2 + 11.67sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f217c53d1d0, in ×2 + 11.67sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.67sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f217c55abbd, in exit ×2 + 11.67sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f217c55aa75, in ×2 + 11.67sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f217ca298f5, in spdlog::details::registry::~registry() ×2 + 11.67sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f868c7ed79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.67sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f868c85315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.67sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f868c845a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.67sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f868c80b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.67sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f868c7ed79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.67sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f217d0df454, in rclcpp::Node::~Node() ×2 + 11.67sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f217d09a515, in ×2 + 11.67sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f217d0ddd20, in ×2 + 11.67sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f217d0ddc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.67sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f217d09a5d9, in ×2 + 11.67sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f217d09f161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.67sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f2128a91b50]) ×2 + 11.67sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 11.67sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.68sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.68sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.68sINFOmap_serverDeactivating + 11.68sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.69sERRORobjective_server_node_main-24process has died [pid 9254, 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_nga5g9f_ --params-file /tmp/launch_params_ca1qnzth --params-file /tmp/launch_params_caflz9sq --params-file /tmp/launch_params_ys5i8fpi --params-file /tmp/launch_params_r7cmhzlo --params-file /tmp/launch_params__yax5ulr --params-file /tmp/launch_params_e3z4kpuy --params-file /tmp/launch_params_0w20yksv --params-file /tmp/launch_params_utp4umrq']. ×2 + 11.69sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 11.69sINFOmap_serverCleaning up + 11.69sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.69sINFOsmoother_serverCleaning up + 11.71sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.71sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.71sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.71sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.71sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.73sERRORamclThe bond connection to the lifecycle manager has been broken + 11.74sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.74sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.74sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.74sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.74sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.74sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.74sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.74sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.74sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.74sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.74sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.75sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 12.19sERRORcomponent_container_isolated-1process has died [pid 9121, 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_miq_2ag5 --params-file /tmp/launch_params_u8kenv1d -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.44sINFOexecute_objective_bridge-27process has finished cleanly [pid 9257] ×2 + 12.47sINFOcomponent_container_mt-26process has finished cleanly [pid 9256] ×2 + 12.48sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9253] ×2 + 12.49sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9208] ×2 + 12.55sINFOparameter_manager_node-20process has finished cleanly [pid 9206] ×2 + 12.56sINFOwaypoint_manager_node-21process has finished cleanly [pid 9207] ×2 + 12.59sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9126] ×2 + 12.61sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9125] ×2 + 12.61sINFOcomponent_container_mt-25process has finished cleanly [pid 9255] ×2 + 12.65sINFOstatic_transform_publisher-3process has finished cleanly [pid 9123] ×2 + 12.66sINFOstatic_transform_publisher-2process has finished cleanly [pid 9122] ×2 + 12.69sERRORodom_qos_relay.py-4process has died [pid 9124, 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 + 14.03sINFOweb_bridge-29process has finished cleanly [pid 9261] ×2 + 14.03sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 14.35sINFOros2_control_node-7process has finished cleanly [pid 9127] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 51 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227199 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227199 ms (missed cycles : 2).[0m ×2 + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.749ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789384 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789384 ms (missed cycles : 4).[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708232 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708232 ms (missed cycles : 2).[0m ×2 + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.049ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871329 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871329 ms (missed cycles : 3).[0m ×2 + 3.62sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1784063465.74648070 seconds ×3 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.724ms + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.698ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686257 ms (missed cycles : 6). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686257 ms (missed cycles : 6).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784063466.30778670 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.900ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.508ms + 5.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.085ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431131 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431131 ms (missed cycles : 5).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.734ms + 5.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.498ms + 5.88sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.92sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.92sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.240ms + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271396 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271396 ms (missed cycles : 2).[0m ×2 + 6.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.843ms + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.547ms + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343250 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343250 ms (missed cycles : 2).[0m ×2 + 7.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.560ms + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879100 ms (missed cycles : 2). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879100 ms (missed cycles : 2).[0m ×2 + 8.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.485ms + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001723 ms (missed cycles : 3). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001723 ms (missed cycles : 3).[0m ×2 + 9.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.660ms + 9.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.938ms + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401426 ms (missed cycles : 2). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401426 ms (missed cycles : 2).[0m ×2 + 10.33sINFOamclParticle filter update iteration stats: 4673 particles 723 points - 5.651ms + 10.82sINFOamclParticle filter update iteration stats: 4363 particles 723 points - 4.836ms + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003753 ms (missed cycles : 2). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003753 ms (missed cycles : 2).[0m ×2 + 11.31sINFOamclParticle filter update iteration stats: 3721 particles 723 points - 5.569ms + 11.82sINFOamclParticle filter update iteration stats: 3471 particles 723 points - 4.572ms + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401003 ms (missed cycles : 3). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401003 ms (missed cycles : 3).[0m ×2 + 12.32sINFOamclParticle filter update iteration stats: 3211 particles 723 points - 4.451ms + 12.82sINFOamclParticle filter update iteration stats: 3107 particles 723 points - 3.350ms + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901955 ms (missed cycles : 2). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901955 ms (missed cycles : 2).[0m ×2 + 13.32sINFOamclParticle filter update iteration stats: 2909 particles 723 points - 3.292ms + 13.82sINFOamclParticle filter update iteration stats: 2659 particles 723 points - 2.806ms + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867384 ms (missed cycles : 2). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867384 ms (missed cycles : 2).[0m ×2 + 14.30sINFOamclParticle filter update iteration stats: 2376 particles 723 points - 2.534ms + 14.33sINFOjoint_trajectory_controllerGot request to cancel goal + 14.33sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.33sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784063476.46556783 seconds ×3 + 14.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.645ms + 14.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.839ms + 14.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.915ms + 14.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784063477.02263308 seconds. ×3 + 15.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.641ms + 15.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407191 ms (missed cycles : 2). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407191 ms (missed cycles : 2).[0m ×2 + 15.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.123ms + 15.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.018ms + 16.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.917ms + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846718 ms (missed cycles : 2). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846718 ms (missed cycles : 2).[0m ×2 + 16.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.887ms + 16.61sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.000ms + 17.11sINFOamclParticle filter update iteration stats: 4818 particles 723 points - 5.426ms
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	5.7s	36 warnings · 66 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387447 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387447 ms (missed cycles : 5).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037074 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037074 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448989 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448989 ms (missed cycles : 2).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605693 ms (missed cycles : 7). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605693 ms (missed cycles : 7).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.55sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784063375.72843075 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.735ms + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.902ms + 4.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784063376.31267285 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102081 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102081 ms (missed cycles : 2).[0m ×2 + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.110ms + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.53sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.54sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.645ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829028 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829028 ms (missed cycles : 3).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.090ms + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509008 ms (missed cycles : 6). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509008 ms (missed cycles : 6).[0m ×2 + 6.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.531ms + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502748 ms (missed cycles : 5). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502748 ms (missed cycles : 5).[0m ×2 + 7.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.016ms + 8.25sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784063380.41283894 seconds ×3 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836370 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836370 ms (missed cycles : 2).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041930 ms (missed cycles : 3). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041930 ms (missed cycles : 3).[0m ×2 + 9.81sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784063381.97898817 seconds. ×3 + 10.16sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224035 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224035 ms (missed cycles : 2).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382842 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382842 ms (missed cycles : 2).[0m ×2 + 11.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.6s	33 warnings · 58 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424052 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424052 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454723 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454723 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256684 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256684 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.492109 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.492109 ms (missed cycles : 5).[0m ×2 + 3.91sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.91sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784063315.31016231 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326277 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326277 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784063315.87130070 seconds. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898402 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898402 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (2.3501e-05 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.48sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.48sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743287 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743287 ms (missed cycles : 4).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695905 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695905 ms (missed cycles : 2).[0m ×2 + 7.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784063318.93146038 seconds ×3 + 8.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784063319.49749970 seconds. ×3 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693152 ms (missed cycles : 4). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693152 ms (missed cycles : 4).[0m ×2 + 8.51sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502167 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502167 ms (missed cycles : 2).[0m ×2 + 10.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687820 ms (missed cycles : 4). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687820 ms (missed cycles : 4).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.1s	24 warnings · 48 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.085ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213540 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213540 ms (missed cycles : 3).[0m ×2 + 0.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.553ms + 1.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.021ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323659 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323659 ms (missed cycles : 3).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.884ms + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227090 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227090 ms (missed cycles : 3).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.073ms + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245351 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245351 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.268ms + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784063619.34395909 seconds ×3 + 4.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.132ms + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666495 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666495 ms (missed cycles : 2).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784063619.93818069 seconds. ×3 + 4.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.83sINFOmove_groupClearing octomap...[0m ×2 + 4.83sINFOmove_groupOctomap cleared.[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.250ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.153ms + 5.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784063620.39046216 seconds ×3 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.252ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.842ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738779 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738779 ms (missed cycles : 4).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.719ms + 5.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784063620.94212651 seconds. ×3 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.461ms + 6.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784063621.37230062 seconds ×3 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.041ms + 6.49sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448060 ms (missed cycles : 3). + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.557ms + 7.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.721ms + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448060 ms (missed cycles : 3).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162162 ms (missed cycles : 3). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162162 ms (missed cycles : 3).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192039 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192039 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.90sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 5.81sINFOobjective_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 + 5.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 6.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	18 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387447 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387447 ms (missed cycles : 5).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037074 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037074 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448989 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448989 ms (missed cycles : 2).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605693 ms (missed cycles : 7). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605693 ms (missed cycles : 7).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784063375.72843075 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.735ms + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.902ms + 4.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784063376.31267285 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102081 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102081 ms (missed cycles : 2).[0m ×2 + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.110ms + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.645ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829028 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829028 ms (missed cycles : 3).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.090ms
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	18 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387447 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387447 ms (missed cycles : 5).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037074 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037074 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448989 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448989 ms (missed cycles : 2).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605693 ms (missed cycles : 7). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605693 ms (missed cycles : 7).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784063375.72843075 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.735ms + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.902ms + 4.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784063376.31267285 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102081 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102081 ms (missed cycles : 2).[0m ×2 + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.110ms + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.645ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829028 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829028 ms (missed cycles : 3).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.090ms
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	18 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387447 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387447 ms (missed cycles : 5).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037074 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037074 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448989 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448989 ms (missed cycles : 2).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605693 ms (missed cycles : 7). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605693 ms (missed cycles : 7).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784063375.72843075 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.735ms + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.902ms + 4.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784063376.31267285 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102081 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102081 ms (missed cycles : 2).[0m ×2 + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.110ms + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.645ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829028 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829028 ms (missed cycles : 3).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.090ms
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	18 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387447 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387447 ms (missed cycles : 5).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037074 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037074 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448989 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448989 ms (missed cycles : 2).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605693 ms (missed cycles : 7). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605693 ms (missed cycles : 7).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784063375.72843075 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.735ms + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.902ms + 4.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784063376.31267285 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102081 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102081 ms (missed cycles : 2).[0m ×2 + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.110ms + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.645ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829028 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829028 ms (missed cycles : 3).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.090ms
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	18 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387447 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387447 ms (missed cycles : 5).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037074 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037074 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448989 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448989 ms (missed cycles : 2).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605693 ms (missed cycles : 7). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.605693 ms (missed cycles : 7).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784063375.72843075 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.735ms + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.902ms + 4.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784063376.31267285 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102081 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102081 ms (missed cycles : 2).[0m ×2 + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.110ms + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.645ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829028 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829028 ms (missed cycles : 3).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.090ms
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	21 warnings · 45 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.023732 ms (missed cycles : 6). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.023732 ms (missed cycles : 6).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968514 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968514 ms (missed cycles : 2).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536742 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536742 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640609 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640609 ms (missed cycles : 3).[0m ×2 + 3.80sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784063412.25917172 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.376ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.837ms + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072565 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072565 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784063412.82632661 seconds. ×3 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.618ms + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.392ms + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.346ms + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890407 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890407 ms (missed cycles : 2).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.651ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.202ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476534 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476534 ms (missed cycles : 3).[0m ×2 + 6.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.256ms
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	21 warnings · 45 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.023732 ms (missed cycles : 6). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.023732 ms (missed cycles : 6).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968514 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968514 ms (missed cycles : 2).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536742 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536742 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640609 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640609 ms (missed cycles : 3).[0m ×2 + 3.80sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784063412.25917172 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.376ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.837ms + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072565 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072565 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784063412.82632661 seconds. ×3 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.618ms + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.392ms + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.346ms + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890407 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890407 ms (missed cycles : 2).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.651ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.202ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476534 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476534 ms (missed cycles : 3).[0m ×2 + 6.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.256ms
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.90sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 5.81sINFOobjective_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 + 5.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 6.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Point-to-Point Trajectory	point-to-point_trajectory.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784063550.67281413 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.606ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.020ms + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.664ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784063551.24870396 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.935ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 4.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.402ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5).[0m ×2 + 5.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.176ms + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.121ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.546ms + 5.78sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784063550.67281413 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.606ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.020ms + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.664ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784063551.24870396 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.935ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 4.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.402ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5).[0m ×2 + 5.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.176ms + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.121ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.546ms + 5.78sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.90sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 5.81sINFOobjective_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 + 5.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 6.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784063550.67281413 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.606ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.020ms + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.664ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784063551.24870396 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.935ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 4.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.402ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5).[0m ×2 + 5.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.176ms + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.121ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.546ms + 5.78sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784063550.67281413 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.606ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.020ms + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.664ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784063551.24870396 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.935ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 4.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.402ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5).[0m ×2 + 5.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.176ms + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.121ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.546ms + 5.78sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784063550.67281413 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.606ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.020ms + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.664ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784063551.24870396 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.935ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 4.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.402ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5).[0m ×2 + 5.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.176ms + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.121ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.546ms + 5.78sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784063550.67281413 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.606ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.020ms + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.664ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784063551.24870396 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.935ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 4.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.402ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5).[0m ×2 + 5.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.176ms + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.121ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.546ms + 5.78sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784063550.67281413 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.606ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.020ms + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.664ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784063551.24870396 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.935ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 4.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.402ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5).[0m ×2 + 5.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.176ms + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.121ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.546ms + 5.78sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645912 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480286 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656528 ms (missed cycles : 3).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784063550.67281413 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.606ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.020ms + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.664ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784063551.24870396 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.935ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 4.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.402ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553438 ms (missed cycles : 5).[0m ×2 + 5.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.176ms + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.121ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.546ms + 5.78sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646673 ms (missed cycles : 6).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424052 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424052 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454723 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454723 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256684 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256684 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.492109 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.492109 ms (missed cycles : 5).[0m ×2 + 3.91sINFOjoint_trajectory_controllerGoal reached, success! + 3.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784063315.31016231 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326277 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326277 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784063315.87130070 seconds. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898402 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898402 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (2.3501e-05 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743287 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743287 ms (missed cycles : 4).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424052 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424052 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454723 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454723 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256684 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256684 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.492109 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.492109 ms (missed cycles : 5).[0m ×2 + 3.91sINFOjoint_trajectory_controllerGoal reached, success! + 3.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784063315.31016231 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326277 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326277 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784063315.87130070 seconds. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898402 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898402 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (2.3501e-05 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743287 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743287 ms (missed cycles : 4).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	21 warnings · 58 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784063315.31016231 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326277 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326277 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784063315.87130070 seconds. ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898402 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898402 ms (missed cycles : 4).[0m ×2 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (2.3501e-05 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743287 ms (missed cycles : 4). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743287 ms (missed cycles : 4).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695905 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695905 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784063318.93146038 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784063319.49749970 seconds. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693152 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693152 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502167 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502167 ms (missed cycles : 2).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687820 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687820 ms (missed cycles : 4).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	21 warnings · 45 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.023732 ms (missed cycles : 6). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.023732 ms (missed cycles : 6).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968514 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968514 ms (missed cycles : 2).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536742 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536742 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640609 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640609 ms (missed cycles : 3).[0m ×2 + 3.80sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784063412.25917172 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.376ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.837ms + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072565 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072565 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784063412.82632661 seconds. ×3 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.618ms + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.392ms + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.346ms + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890407 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890407 ms (missed cycles : 2).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.651ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.202ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476534 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476534 ms (missed cycles : 3).[0m ×2 + 6.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.256ms
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	19 warnings · 47 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.085ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213540 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213540 ms (missed cycles : 3).[0m ×2 + 0.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.553ms + 1.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.021ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323659 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323659 ms (missed cycles : 3).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.884ms + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227090 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227090 ms (missed cycles : 3).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.073ms + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245351 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245351 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.268ms + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784063619.34395909 seconds ×3 + 4.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.132ms + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666495 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666495 ms (missed cycles : 2).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784063619.93818069 seconds. ×3 + 4.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.83sINFOmove_groupClearing octomap...[0m ×2 + 4.83sINFOmove_groupOctomap cleared.[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.250ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.153ms + 5.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784063620.39046216 seconds ×3 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.252ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.842ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738779 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738779 ms (missed cycles : 4).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.719ms + 5.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784063620.94212651 seconds. ×3 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.461ms + 6.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784063621.37230062 seconds ×3 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.041ms + 6.49sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448060 ms (missed cycles : 3). + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.557ms

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

7 skip

− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.88sINFOmove_groupClearing octomap...[0m ×2 + 2.88sINFOmove_groupOctomap cleared.[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 4.78sINFOobjective_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: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 5.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.72sINFOjoint_trajectory_controllerReceived new action goal + 6.72sINFOjoint_trajectory_controllerAccepted new action goal + 6.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.72sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.90sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 5.81sINFOobjective_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 + 5.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 6.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	24 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.90sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 5.81sINFOobjective_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 + 5.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 6.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2
− skipped	—	addtovector.xml	0.0s	21 warnings · 85 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.90sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 5.81sINFOobjective_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 + 5.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 5.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.90sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 5.81sINFOobjective_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 + 5.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 6.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.90sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 5.81sINFOobjective_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 + 5.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 6.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456116 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.90sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 5.81sINFOobjective_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 + 5.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 6.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	teleoperate.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348737 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.88sINFOmove_groupClearing octomap...[0m ×2 + 2.88sINFOmove_groupOctomap cleared.[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 4.78sINFOobjective_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: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 5.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

10 skip

− skipped	—	move_to_joint_state.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192039 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192039 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_tf.xml	0.0s	18 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480255 ms (missed cycles : 3).[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524775 ms (missed cycles : 3).[0m ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784063269.75984144 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784063269.77010322 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513583 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784063270.34031081 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784063270.35046482 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784063270.90080595 seconds. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561773 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784063271.05161071 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784063271.65283942 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784063271.71299767 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159571 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784063272.26480079 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816946 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2