MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

23.1s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

▾(no parent)

1 pass

✓ passed	—	test_base_link_has_single_tf_parent	30.6s	15 errors · 309 warnings · 1145 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/2026-07-14-19-58-41-831701-41c150afee11-9099 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 12.64sINFOstatic_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/libcontroller_server_core.so + 12.74sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 12.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 12.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 12.76sINFOcontroller_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. + 12.78sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 12.78sINFOcontroller_managerupdate rate is 600 Hz + 12.78sINFOcontroller_managerOverruns handling is : enabled + 12.78sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 12.78sWARNcontroller_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_serverCreating controller server + 12.84sINFOlocal_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. + 12.85sINFOlocal_costmap.local_costmapCreating Costmap + 12.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 12.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 12.88sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 12.88sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 12.89sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 12.91sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 12.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×2 + 12.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 12.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 12.92sINFOros2_control_node-7process started with pid [9155] ×2 + 12.92sINFOmove_group-19process started with pid [9233] ×2 + 12.92sINFOparameter_manager_node-20process started with pid [9234] ×2 + 12.92sINFOwaypoint_manager_node-21process started with pid [9235] ×2 + 12.92sINFOmove_joint_resampler_node-22process started with pid [9236] ×2 + 12.92sINFOmove_end_effector_resampler_node-23process started with pid [9278] ×2 + 12.92sINFOobjective_server_node_main-24process started with pid [9279] ×2 + 12.92sINFOcomponent_container_mt-25process started with pid [9281] ×2 + 12.92sINFOcomponent_container_mt-26process started with pid [9284] ×2 + 12.93sINFOexecute_objective_bridge-27process started with pid [9285] ×2 + 12.93sINFOui_teleop_bridge-28process started with pid [9286] ×2 + 12.93sINFOsmoother_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. + 12.93sINFOweb_bridge-29process started with pid [9287] ×2 + 12.93sINFOtf2_web_republisher_node-30process started with pid [9288] ×2 + 12.93sINFOweb_video_server-31process started with pid [9306] ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540704 ms (missed cycles : 2). + 12.95sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 12.95sINFOcomponent_container_isolated-1process started with pid [9149] ×2 + 12.95sINFOstatic_transform_publisher-2process started with pid [9150] ×2 + 12.95sINFOstatic_transform_publisher-3process started with pid [9151] ×2 + 12.95sINFOodom_qos_relay.py-4process started with pid [9152] ×2 + 12.95sINFOsmoother_serverCreating smoother server + 12.95sINFOscan_to_scan_filter_chain-5process started with pid [9153] ×2 + 12.95sINFOscan_to_scan_filter_chain-6process started with pid [9154] ×2 + 12.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 12.97sINFOros2-8process started with pid [9156] ×2 + 12.97sINFOros2-9process started with pid [9223] ×2 + 12.97sINFOros2-10process started with pid [9224] ×2 + 12.97sINFOros2-11process started with pid [9225] ×2 + 12.97sINFOros2-12process started with pid [9226] ×2 + 12.97sINFOros2-13process started with pid [9227] ×2 + 12.97sINFOros2-14process started with pid [9228] ×2 + 12.97sINFOros2-15process started with pid [9229] ×2 + 12.97sINFOros2-16process started with pid [9230] ×2 + 12.97sINFOros2-17process started with pid [9231] ×2 + 12.97sINFOros2-18process started with pid [9232] ×2 + 13.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.05sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 13.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.07sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 13.07sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 13.07sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 13.07sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 13.07sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 13.07sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 13.07sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 13.07sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.08sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.08sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.08sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.08sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.08sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540704 ms (missed cycles : 2).[0m ×2 + 13.08sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 13.08sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 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/libplanner_server_core.so + 13.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 13.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.11sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.11sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.13sINFOplanner_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. + 13.15sINFOplanner_serverCreating + 13.18sINFOglobal_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. + 13.18sINFOglobal_costmap.global_costmapCreating Costmap + 13.20sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.21sINFOcontroller_managerReceived robot description from topic. + 13.21sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.21sINFOrobot_state_publisherRobot initialized + 13.22sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.22sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.22sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.27sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.27sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.27sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.27sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×2 + 13.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.29sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.29sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.30sINFObehavior_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. + 13.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.36sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 13.36sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.38sINFOlifecycle_manager_localizationCreating + 13.39sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.39sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 13.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 13.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 13.41sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 13.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.41sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 13.42sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.42sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.42sINFOmap_serverConfiguring + 13.44sINFObt_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. + 13.48sINFObt_navigatorCreating + 13.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 13.49sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 13.49sINFOamclConfiguring + 13.50sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 13.50sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 13.50sINFOmap_serverActivating + 13.50sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 13.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.55sINFOwaypoint_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. + 13.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 13.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 13.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 13.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 13.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 13.55sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 13.55sINFOwaypoint_followerCreating + 13.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 13.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 13.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 13.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 13.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 13.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 13.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 13.57sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 13.57sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 13.57sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 13.57sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 13.57sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 13.57sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 13.58sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 13.58sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.58sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.60sINFOvelocity_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. + 13.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 13.62sINFOlifecycle_manager_localizationServer map_server connected with bond. + 13.62sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 13.62sINFOamclActivating + 13.62sINFOamclSubscribed to initial_pose_topic: /initialpose + 13.63sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 13.66sINFOamclSubscribed to map_topic: /map + 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. + 13.66sINFOamclSubscribed to scan_topic: /scan_merged + 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. + 13.66sINFOamclCreated reinitialize_global_localization service + 13.66sINFOamclCreated request_nomotion_update service + 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 + 13.66sINFOlifecycle_manager_navigationCreating + 13.67sINFOamclA new map was received + 13.67sINFOamclInitializing particle filter instance + 13.67sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 13.70sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 13.70sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 13.71sINFOcontroller_serverConfiguring controller interface + 13.71sINFOcontroller_servergetting progress checker plugins.. + 13.71sINFOcontroller_servergetting goal checker plugins.. + 13.71sINFOcontroller_serverController frequency set to 20.0000Hz + 13.71sINFOlocal_costmap.local_costmapConfiguring + 13.71sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 13.74sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 13.79sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 13.79sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 13.79sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 13.83sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 13.83sINFOcontroller_serverController Server has progress_checker progress checkers available. + 13.84sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 13.84sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 13.85sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 13.86sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 13.87sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 13.87sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 13.88sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 13.88sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 13.88sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 13.88sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 13.88sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 13.88sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 13.89sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 13.89sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 13.89sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 13.90sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 13.90sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 13.90sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 13.90sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 13.90sINFOcontroller_serverOptimizer reset + 13.91sINFOcontroller_serverController Server has FollowPath controllers available. + 13.93sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 13.93sINFOsmoother_serverConfiguring smoother server + 13.97sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 13.98sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 13.98sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.416888 seconds + 13.99sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 13.99sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 13.99sINFOmove_groupLoaded robot model in 0.416888 seconds[0m ×2 + 13.99sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 13.99sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 13.99sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 13.99sINFOplanner_serverConfiguring + 13.99sINFOglobal_costmap.global_costmapConfiguring + 14.00sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.03sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.03sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.03sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.03sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.07sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.07sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.07sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.10sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.10sFATALplanner_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 + 14.10sINFOplanner_serverCleaning up + 14.10sINFOglobal_costmap.global_costmapCleaning up + 14.16sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 14.16sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 14.17sINFOwaypoint_manager_nodeLoaded robot model in 0.443332 seconds[0m ×2 + 14.18sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 14.18sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419133 ms (missed cycles : 2). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419133 ms (missed cycles : 2).[0m ×2 + 14.38sINFOamclParticle filter initialization completed + 14.38sINFOamclInitializing particles from estimated pose and covariance + 14.38sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 14.38sINFOamclThe bond connection to the lifecycle manager is now fully formed + 14.39sINFOlifecycle_manager_localizationServer amcl connected with bond. + 14.39sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 14.39sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 14.55sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 14.55sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×10 + 14.81sWARNwaypoint_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. + 14.81sWARNwaypoint_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. + 14.82sWARNwaypoint_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 + 14.82sWARNwaypoint_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. + 14.82sWARNwaypoint_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. + 14.82sWARNwaypoint_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 + 14.82sWARNwaypoint_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 + 14.82sWARNwaypoint_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. + 14.82sWARNwaypoint_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. + 14.82sWARNwaypoint_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 + 14.82sWARNwaypoint_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 + 14.82sWARNwaypoint_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 + 14.82sWARNwaypoint_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. + 14.82sWARNwaypoint_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. + 14.82sWARNwaypoint_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 + 14.82sWARNwaypoint_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 + 14.82sWARNwaypoint_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. + 14.82sWARNwaypoint_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. + 14.82sWARNwaypoint_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 + 14.82sWARNwaypoint_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 + 14.83sWARNwaypoint_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. + 14.83sWARNwaypoint_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. + 14.83sWARNwaypoint_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 + 14.83sWARNwaypoint_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 + 14.83sWARNwaypoint_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. + 14.83sWARNwaypoint_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. + 14.83sWARNwaypoint_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 + 14.83sWARNwaypoint_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 + 14.83sWARNwaypoint_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. + 14.83sWARNwaypoint_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. + 14.83sWARNwaypoint_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 + 14.83sWARNwaypoint_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 + 14.83sWARNwaypoint_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. + 14.83sWARNwaypoint_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. + 14.83sWARNwaypoint_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 + 14.83sWARNwaypoint_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. + 14.83sWARNwaypoint_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 + 14.83sWARNwaypoint_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. + 14.84sWARNwaypoint_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 + 14.84sWARNwaypoint_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. + 14.84sWARNwaypoint_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 + 14.84sWARNwaypoint_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. + 14.84sWARNwaypoint_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 + 14.84sWARNwaypoint_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 + 14.84sWARNwaypoint_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. + 14.84sWARNwaypoint_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. + 14.84sWARNwaypoint_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 + 14.84sWARNwaypoint_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. + 14.84sWARNwaypoint_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 + 14.84sWARNwaypoint_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. + 14.84sWARNwaypoint_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 + 14.84sWARNwaypoint_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 + 14.84sWARNwaypoint_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. + 14.84sWARNwaypoint_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. + 14.85sWARNwaypoint_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 + 14.85sWARNwaypoint_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 + 14.85sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 14.85sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.85sWARNmove_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. + 14.85sWARNmove_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. + 14.85sWARNmove_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 + 14.85sWARNmove_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 + 14.86sWARNmove_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. + 14.86sWARNmove_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. + 14.86sWARNmove_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. + 14.86sWARNmove_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. + 14.86sWARNmove_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. + 14.86sWARNmove_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. + 14.87sWARNmove_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 + 14.87sWARNmove_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 + 14.87sWARNmove_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 + 14.87sWARNmove_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 + 14.87sWARNmove_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 + 14.87sWARNmove_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 + 14.87sWARNmove_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. + 14.87sWARNmove_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. + 14.87sWARNmove_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 + 14.87sWARNmove_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 + 15.08sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 15.08sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 15.09sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 15.09sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251967 ms (missed cycles : 2). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251967 ms (missed cycles : 2).[0m ×2 + 15.36sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 15.36sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.37sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 15.46sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 15.46sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 15.46sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 15.46sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 15.46sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 15.46sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 15.46sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 15.46sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 15.46sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.46sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 15.47sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 15.47sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 15.47sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 15.47sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 15.47sINFOmove_groupStarting planning scene monitor[0m ×2 + 15.47sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 15.47sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 15.47sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 15.48sINFOmove_groupListening to '/planning_scene'[0m ×2 + 15.48sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 15.48sINFOmove_groupListening to 'collision_object'[0m ×2 + 15.48sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 15.77sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 15.77sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 15.77sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 15.77sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 15.77sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 15.77sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 15.77sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 15.77sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 15.77sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 15.77sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 15.77sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 15.77sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 15.77sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 15.77sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 15.77sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 15.77sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 15.77sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 15.78sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 15.78sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 15.78sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 15.78sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 15.78sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 15.78sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 15.78sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 15.80sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 15.80sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 15.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 15.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 15.81sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e + 15.81sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.81sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e [0m ×2 + 15.82sWARNros2_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 + 15.89sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 15.89sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 15.89sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 15.89sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 15.90sINFOforce_torque_sensor_broadcasterconfigure successful + 15.90sINFOros2_control_nodeconfigure successful[0m ×6 + 15.90sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 15.90sINFOcontroller_managerSuccessfully switched controllers! ×7 + 15.90sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 15.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 15.91sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 15.91sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.21sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.21sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.22sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 16.23sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 16.23sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 16.23sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 16.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 16.25sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 16.25sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 16.25sINFOros2-8process has finished cleanly [pid 9156] ×2 + 16.33sINFOobjective_server_node[2026-07-14 19:59:01.354] [moveit_pro_license] [info] ×2 + 16.33sINFOobjective_server_node************************************************* ×4 + 16.33sINFOobjective_server_node* MoveIt Pro License ×2 + 16.33sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812045 ms (missed cycles : 2). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812045 ms (missed cycles : 2).[0m ×2 + 16.39sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e + 16.39sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e [0m ×2 + 16.41sINFOobjective_server_nodeLoaded robot model in 0.0264162 seconds[0m ×2 + 16.41sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 16.41sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 16.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 16.44sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 16.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 16.44sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 16.48sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 16.48sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 16.48sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 16.48sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 16.48sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 16.48sINFOstreaming_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) + 16.48sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 16.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.48sINFOcomponent_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 + 16.48sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 16.49sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 16.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.49sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.50sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 16.50sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 16.51sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 16.51sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 16.51sWARNcomponent_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 + 16.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 16.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 16.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.71sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.71sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.73sINFOstreaming_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) + 16.73sINFOcomponent_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 + 16.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.80sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.80sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.80sWARNobjective_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. + 16.80sWARNobjective_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. + 16.80sWARNobjective_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. + 16.80sWARNobjective_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 + 16.80sWARNobjective_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 + 16.80sWARNobjective_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. + 16.80sWARNobjective_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. + 16.80sWARNobjective_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 + 16.80sWARNobjective_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. + 16.80sWARNobjective_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 + 16.80sWARNobjective_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 + 16.80sWARNobjective_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. + 16.80sWARNobjective_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 + 16.80sWARNobjective_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. + 16.80sWARNobjective_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 + 16.80sWARNobjective_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 + 16.80sWARNobjective_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. + 16.80sWARNobjective_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 + 16.80sWARNobjective_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. + 16.80sWARNobjective_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 + 16.86sINFOobjective_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 + 16.86sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 16.88sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 16.89sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 16.89sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 16.89sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 16.89sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 16.89sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 16.89sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 16.89sINFOros2_control_node[2026-07-14 19:59:01.912] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 16.89sINFOros2_control_node[2026-07-14 19:59:01.915] [info] Controller state will be published at 10 Hz. ×2 + 16.89sINFOros2_control_node[2026-07-14 19:59:01.917] [info] VelocityForceController 'on_configure' succeeded. ×2 + 16.96sINFOmove_groupMoveGroup debug mode is ON + 16.96sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 16.96sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 16.98sINFOcomponent_container_mtLoaded robot model in 0.469619 seconds[0m ×2 + 16.98sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 16.98sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.00sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 17.00sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 17.00sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784059140.924 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 17.01sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 17.01sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 17.01sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 17.01sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 17.01sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 17.02sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 17.02sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 17.06sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 17.12sINFOmove_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 ****************************************************** + 17.13sINFOmove_group ×8 + 17.13sINFOmove_group****************************************************** ×4 + 17.13sINFOmove_group* MoveGroup using: ×2 + 17.13sINFOmove_group* - apply_planning_scene_service ×2 + 17.13sINFOmove_group* - clear_octomap_service ×2 + 17.13sINFOmove_group* - get_group_urdf ×2 + 17.13sINFOmove_group* - load_geometry_from_file ×2 + 17.13sINFOmove_group* - get_planning_scene_service ×2 + 17.13sINFOmove_group* - kinematics_service ×2 + 17.13sINFOmove_group* - save_geometry_to_file ×2 + 17.13sINFOmove_group* - GetPlanningGroups ×2 + 17.13sINFOmove_group* - URDFPlanningSceneCapability ×2 + 17.13sINFOmove_group[0m ×2 + 17.13sINFOmove_group[92mYou can start planning now![0m ×2 + 17.26sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 17.26sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 17.26sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 17.26sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 17.27sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e + 17.27sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e [0m ×2 + 17.33sINFOros2-16process has finished cleanly [pid 9230] ×2 + 17.34sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 17.35sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291973 ms (missed cycles : 2). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291973 ms (missed cycles : 2).[0m ×2 + 17.36sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 17.36sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 17.37sWARNplanning_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. + 17.37sINFOplatform_velocity_controller_nav2configure successful + 17.37sWARNplanning_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. + 17.37sWARNcomponent_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 + 17.37sWARNplanning_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. + 17.37sWARNplanning_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. + 17.37sWARNplanning_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. + 17.37sWARNplanning_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. + 17.37sWARNcomponent_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 + 17.37sWARNcomponent_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 + 17.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.37sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.38sWARNplanning_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. + 17.38sWARNcomponent_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 + 17.38sWARNcomponent_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 + 17.38sWARNplanning_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. + 17.38sWARNplanning_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. + 17.38sWARNcomponent_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 + 17.38sWARNcomponent_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 + 17.38sWARNplanning_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. + 17.38sWARNplanning_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. + 17.38sWARNcomponent_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 + 17.38sWARNplanning_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. + 17.38sWARNplanning_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. + 17.38sWARNcomponent_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 + 17.38sWARNcomponent_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 + 17.38sWARNplanning_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. + 17.38sWARNplanning_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. + 17.38sWARNcomponent_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 + 17.38sWARNcomponent_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 + 17.38sWARNplanning_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. + 17.38sWARNplanning_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. + 17.38sWARNcomponent_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 + 17.38sWARNcomponent_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 + 17.38sWARNplanning_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. + 17.38sWARNplanning_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. + 17.38sWARNcomponent_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 + 17.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.39sWARNcomponent_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 + 17.39sWARNcomponent_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 + 17.39sWARNplanning_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. + 17.39sWARNcomponent_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 + 17.39sWARNcomponent_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 + 17.39sWARNplanning_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. + 17.39sWARNplanning_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. + 17.39sWARNcomponent_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 + 17.39sWARNplanning_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. + 17.39sWARNplanning_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. + 17.39sWARNcomponent_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 + 17.39sWARNplanning_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. + 17.39sWARNplanning_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. + 17.39sWARNcomponent_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 + 17.39sWARNcomponent_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 + 17.39sWARNcomponent_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 + 17.39sWARNcomponent_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 + 17.39sWARNcomponent_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 + 17.68sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 17.68sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 17.69sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 17.69sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 17.70sINFOros2-13process has finished cleanly [pid 9227] ×2 + 17.77sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e + 17.77sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e [0m ×2 + 17.77sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 17.77sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 17.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 17.78sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 17.84sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 17.84sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 17.84sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 17.85sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 17.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 17.97sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 17.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 18.24sINFOros2_control_node[2026-07-14 19:59:03.263] [info] Controller state will be published at 20 Hz. ×2 + 18.24sINFOros2_control_node[2026-07-14 19:59:03.264] [info] JointVelocityController 'on_configure' succeeded. ×2 + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051315 ms (missed cycles : 2). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051315 ms (missed cycles : 2).[0m ×2 + 18.58sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 18.59sINFOros2-17process has finished cleanly [pid 9231] ×2 + 18.72sWARNobjective_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 + 18.85sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 18.85sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 18.85sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 18.85sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 18.86sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e + 18.86sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e [0m ×2 + 18.94sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 18.94sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 18.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 18.94sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 18.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 18.94sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 18.94sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 18.94sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 18.94sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 18.94sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 18.94sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 18.95sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 18.95sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 18.95sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 18.95sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 18.99sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 19.30sINFOros2-14process has finished cleanly [pid 9228] ×2 + 19.30sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730209 ms (missed cycles : 3). + 19.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730209 ms (missed cycles : 3).[0m ×2 + 19.50sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784059143.427 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 19.57sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 19.57sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 19.57sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 19.57sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 19.57sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e + 19.57sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e [0m ×2 + 19.60sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 19.60sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 19.60sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 19.60sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 19.60sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 19.60sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 19.60sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 19.60sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 19.60sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 19.60sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 19.61sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 19.61sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 19.61sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 19.61sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 19.83sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 4.312ms + 19.95sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 19.95sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 19.95sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e + 19.95sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 19.95sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 19.95sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e [0m ×2 + 19.97sINFOros2-10process has finished cleanly [pid 9224] ×2 + 20.03sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 20.03sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 20.04sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 20.04sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 20.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844982 ms (missed cycles : 5). + 20.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844982 ms (missed cycles : 5).[0m ×2 + 20.42sINFOros2_control_node[2026-07-14 19:59:05.440] [info] Controller state will be published at 20 Hz. ×2 + 20.42sINFOros2_control_node[2026-07-14 19:59:05.441] [info] JointVelocityController 'on_configure' succeeded. ×2 + 20.80sINFOros2-18process has finished cleanly [pid 9232] ×2 + 20.81sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 21.07sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 21.07sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 21.07sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 21.07sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 21.07sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e + 21.07sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e [0m ×2 + 21.09sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 21.09sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 21.10sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 21.10sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 21.10sINFOplatform_velocity_controllerconfigure successful + 21.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 21.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 21.11sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 21.11sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131383 ms (missed cycles : 2). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131383 ms (missed cycles : 2).[0m ×2 + 21.45sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 21.45sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 21.45sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 21.45sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 21.45sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e + 21.45sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e [0m ×2 + 21.46sINFOros2-11process has finished cleanly [pid 9225] ×2 + 21.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 21.52sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 21.52sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 21.52sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 21.52sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 21.52sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 21.53sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 21.53sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 21.87sINFOros2-9process has finished cleanly [pid 9223] ×2 + 21.89sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 21.90sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 21.90sINFOcontroller_managerLoading controller 'vacuum_gripper' + 21.90sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 21.90sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 21.90sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e + 21.90sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e [0m ×2 + 21.93sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 21.93sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 21.94sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 21.94sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 21.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 21.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 21.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 21.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 21.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 21.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 21.95sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 21.95sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 22.32sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 22.32sINFOcontroller_managerLoading controller 'velocity_force_controller' + 22.32sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 22.32sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 22.32sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e + 22.32sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__gc0s6fk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1u1wk1ia --params-file /tmp/launch_params_fae0pk2e [0m ×2 + 22.32sINFOros2-12process has finished cleanly [pid 9226] ×2 + 22.39sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 22.40sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 22.40sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 22.40sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222702 ms (missed cycles : 2). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222702 ms (missed cycles : 2).[0m ×2 + 22.77sINFOros2_control_node[2026-07-14 19:59:07.799] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 22.78sINFOros2_control_node[2026-07-14 19:59:07.802] [info] Controller state will be published at 10 Hz. ×2 + 22.78sINFOros2_control_node[2026-07-14 19:59:07.803] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 22.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 23.12sINFOros2-15process has finished cleanly [pid 9229] ×2 + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430495 ms (missed cycles : 4). + 23.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430495 ms (missed cycles : 4).[0m ×2 + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2).[0m ×2 + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 25.82sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 27.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 28.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 28.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 28.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 28.01sINFOmove_groupClearing octomap...[0m ×2 + 28.01sINFOmove_groupOctomap cleared.[0m ×2 + 28.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 28.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 28.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 28.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 28.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 29.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 29.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 29.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 29.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 29.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 29.91sINFOobjective_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 + 29.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 29.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 29.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 29.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 29.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 29.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 29.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 29.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 29.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 29.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3

▾/__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	72.5s	3 errors · 231 warnings · 215 info
+ 0.00sINFOamclParticle filter update iteration stats: 2606 particles 723 points - 2.990ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065590 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065590 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 2135 particles 723 points - 2.517ms + 1.00sINFOamclParticle filter update iteration stats: 2030 particles 723 points - 2.090ms + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180670 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180670 ms (missed cycles : 2).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 2.088ms + 2.00sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 2.094ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.305386 ms (missed cycles : 8). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.305386 ms (missed cycles : 8).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 1.509ms + 3.01sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.611ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724199 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724199 ms (missed cycles : 2).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 1.297ms + 3.79sINFOjoint_trajectory_controllerGot request to cancel goal + 3.79sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.79sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784059360.95875168 seconds ×3 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.034ms + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.403ms + 4.39sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784059361.52418041 seconds. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.889928 ms (missed cycles : 6). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.889928 ms (missed cycles : 6).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.801ms + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.565ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.512ms + 5.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.873ms + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798661 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798661 ms (missed cycles : 3).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.641ms + 5.97sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 6.01sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.01sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.01sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.01sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.738ms + 6.50sINFOamclParticle filter update iteration stats: 4570 particles 723 points - 5.173ms + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903204 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903204 ms (missed cycles : 3).[0m ×2 + 6.79sINFOamclParticle filter update iteration stats: 3430 particles 723 points - 5.153ms + 7.10sINFOamclParticle filter update iteration stats: 2659 particles 723 points - 3.809ms + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106672 ms (missed cycles : 5). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106672 ms (missed cycles : 5).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.795240 ms (missed cycles : 6). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.795240 ms (missed cycles : 6).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 3.183ms + 9.39sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 2.246ms + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.997037 ms (missed cycles : 7). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.997037 ms (missed cycles : 7).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 1.751ms + 10.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.362ms ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315180 ms (missed cycles : 3). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315180 ms (missed cycles : 3).[0m ×2 + 10.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906597 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906597 ms (missed cycles : 2).[0m ×2 + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 12.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.497807 ms (missed cycles : 7). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.497807 ms (missed cycles : 7).[0m ×2 + 12.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.151ms + 13.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.025633 ms (missed cycles : 7). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.025633 ms (missed cycles : 7).[0m ×2 + 13.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.311892 ms (missed cycles : 5). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.311892 ms (missed cycles : 5).[0m ×2 + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms ×2 + 15.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 15.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412046 ms (missed cycles : 3). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412046 ms (missed cycles : 3).[0m ×2 + 16.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms ×2 + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700860 ms (missed cycles : 2). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700860 ms (missed cycles : 2).[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 17.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.811076 ms (missed cycles : 6). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.811076 ms (missed cycles : 6).[0m ×2 + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.062491 ms (missed cycles : 7). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.062491 ms (missed cycles : 7).[0m ×2 + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.162072 ms (missed cycles : 5). + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.162072 ms (missed cycles : 5).[0m ×2 + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408132 ms (missed cycles : 3). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408132 ms (missed cycles : 3).[0m ×2 + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.047ms + 21.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474879 ms (missed cycles : 4). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474879 ms (missed cycles : 4).[0m ×2 + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms ×2 + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.148ms + 23.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604155 ms (missed cycles : 4). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604155 ms (missed cycles : 4).[0m ×2 + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004408 ms (missed cycles : 2). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004408 ms (missed cycles : 2).[0m ×2 + 24.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 24.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 25.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670065 ms (missed cycles : 2). + 25.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670065 ms (missed cycles : 2).[0m ×2 + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.779ms + 25.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.821ms ×2 + 26.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361001 ms (missed cycles : 2). + 26.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361001 ms (missed cycles : 2).[0m ×2 + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms ×2 + 27.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121809 ms (missed cycles : 2). + 27.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121809 ms (missed cycles : 2).[0m ×2 + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms ×3 + 28.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.809ms + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401198 ms (missed cycles : 3). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401198 ms (missed cycles : 3).[0m ×2 + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 29.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 29.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039306 ms (missed cycles : 4). + 29.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039306 ms (missed cycles : 4).[0m ×2 + 29.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 30.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149917 ms (missed cycles : 2). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149917 ms (missed cycles : 2).[0m ×2 + 31.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525552 ms (missed cycles : 3). + 31.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525552 ms (missed cycles : 3).[0m ×2 + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079835 ms (missed cycles : 4). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079835 ms (missed cycles : 4).[0m ×2 + 32.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 33.32sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.32sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677275 ms (missed cycles : 2). + 33.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677275 ms (missed cycles : 2).[0m ×2 + 33.72sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 34.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709922 ms (missed cycles : 3). + 34.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709922 ms (missed cycles : 3).[0m ×2 + 34.82sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100761 ms (missed cycles : 2). + 35.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100761 ms (missed cycles : 2).[0m ×2 + 35.55sINFOobjective_server_nodePlanning for 31 path waypoints. ×6 + 36.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450722 ms (missed cycles : 2). + 36.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450722 ms (missed cycles : 2).[0m ×2 + 37.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814741 ms (missed cycles : 2). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814741 ms (missed cycles : 2).[0m ×2 + 37.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 38.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 38.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616756 ms (missed cycles : 4). + 38.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616756 ms (missed cycles : 4).[0m ×2 + 38.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 39.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 39.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147868 ms (missed cycles : 4). + 39.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147868 ms (missed cycles : 4).[0m ×2 + 39.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.769ms + 40.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 40.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317452 ms (missed cycles : 2). + 40.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317452 ms (missed cycles : 2).[0m ×2 + 40.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.771ms + 41.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.320293 ms (missed cycles : 5). + 41.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.320293 ms (missed cycles : 5).[0m ×2 + 42.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044703 ms (missed cycles : 2). + 42.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044703 ms (missed cycles : 2).[0m ×2 + 43.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776849 ms (missed cycles : 2). + 43.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776849 ms (missed cycles : 2).[0m ×2 + 44.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202963 ms (missed cycles : 2). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202963 ms (missed cycles : 2).[0m ×2 + 45.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 45.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264657 ms (missed cycles : 2). + 45.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264657 ms (missed cycles : 2).[0m ×2 + 46.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 46.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127786 ms (missed cycles : 5). + 46.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127786 ms (missed cycles : 5).[0m ×2 + 47.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 47.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556193 ms (missed cycles : 4). + 47.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556193 ms (missed cycles : 4).[0m ×2 + 48.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 48.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745754 ms (missed cycles : 3). + 48.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745754 ms (missed cycles : 3).[0m ×2 + 48.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 49.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 49.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881106 ms (missed cycles : 3). + 49.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881106 ms (missed cycles : 3).[0m ×2 + 50.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062041 ms (missed cycles : 4). + 50.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062041 ms (missed cycles : 4).[0m ×2 + 51.10sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 51.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.099ms + 51.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931321 ms (missed cycles : 2). + 51.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931321 ms (missed cycles : 2).[0m ×2 + 52.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500581 ms (missed cycles : 3). + 52.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500581 ms (missed cycles : 3).[0m ×2 + 53.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817362 ms (missed cycles : 6). + 53.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817362 ms (missed cycles : 6).[0m ×2 + 54.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825242 ms (missed cycles : 2). + 54.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825242 ms (missed cycles : 2).[0m ×2 + 55.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 55.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673225 ms (missed cycles : 2). + 55.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673225 ms (missed cycles : 2).[0m ×2 + 57.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151865 ms (missed cycles : 2). + 57.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151865 ms (missed cycles : 2).[0m ×2 + 57.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 57.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 58.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455782 ms (missed cycles : 4). + 58.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455782 ms (missed cycles : 4).[0m ×2 + 58.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 59.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139857 ms (missed cycles : 4). + 59.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139857 ms (missed cycles : 4).[0m ×2 + 59.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 60.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.591777 ms (missed cycles : 4). + 60.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.591777 ms (missed cycles : 4).[0m ×2 + 60.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 61.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.728452 ms (missed cycles : 6). + 61.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.728452 ms (missed cycles : 6).[0m ×2 + 61.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 62.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764042 ms (missed cycles : 5). + 62.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764042 ms (missed cycles : 5).[0m ×2 + 62.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 63.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486286 ms (missed cycles : 7). + 63.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486286 ms (missed cycles : 7).[0m ×2 + 64.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380128 ms (missed cycles : 2). + 64.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380128 ms (missed cycles : 2).[0m ×2 + 65.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518426 ms (missed cycles : 3). + 65.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518426 ms (missed cycles : 3).[0m ×2 + 66.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346918 ms (missed cycles : 4). + 66.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346918 ms (missed cycles : 4).[0m ×2 + 67.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.750ms + 67.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873000 ms (missed cycles : 4). + 67.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873000 ms (missed cycles : 4).[0m ×2 + 68.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 68.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128594 ms (missed cycles : 2). + 68.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128594 ms (missed cycles : 2).[0m ×2 + 69.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010121 ms (missed cycles : 4). + 69.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010121 ms (missed cycles : 4).[0m ×2 + 70.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136686 ms (missed cycles : 4). + 70.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136686 ms (missed cycles : 4).[0m ×2 + 71.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 71.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316481 ms (missed cycles : 2). + 71.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316481 ms (missed cycles : 2).[0m ×2 + 71.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 72.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 72.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2). + 72.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2).[0m ×2 + 73.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 73.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6). + 73.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6).[0m ×2 + 73.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 74.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4). + 74.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4).[0m ×2 + 75.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 75.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3). + 75.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3).[0m ×2 + 76.29sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784059433.42436671 seconds ×3 + 76.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.799ms + 76.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.043ms + 76.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5). + 76.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5).[0m ×2 + 76.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.446ms + 76.85sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784059433.99228001 seconds. ×3 + 77.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.360ms + 77.26sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 77.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.061ms + 77.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.567ms + 77.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2). + 77.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2).[0m ×2 + 78.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.828ms + 78.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 78.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.935ms + 78.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2). + 78.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2).[0m ×2 + 78.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	56.8s	183 warnings · 165 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784059198.57843018 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.345811 ms (missed cycles : 6). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.345811 ms (missed cycles : 6).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784059199.13080192 seconds. ×3 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769699 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769699 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeFound path in 0 iterations (2.2831e-05 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.54sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.54sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.54sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.54sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.637759 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.637759 ms (missed cycles : 5).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396850 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396850 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784059202.20096135 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784059202.75899386 seconds. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776311 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776311 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086526 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086526 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879704 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879704 ms (missed cycles : 5).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.147043 ms (missed cycles : 5). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.147043 ms (missed cycles : 5).[0m ×2 + 8.18sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 1.660ms + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637903 ms (missed cycles : 4). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637903 ms (missed cycles : 4).[0m ×2 + 8.79sINFOamclParticle filter update iteration stats: 1311 particles 723 points - 1.422ms + 9.28sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.164ms + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841118 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841118 ms (missed cycles : 3).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 10.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981431 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981431 ms (missed cycles : 2).[0m ×2 + 10.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 11.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427504 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427504 ms (missed cycles : 2).[0m ×2 + 11.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 12.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 12.29sINFOros2_control_nodeMuJoCo sim: 0.53% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.831524 ms (missed cycles : 6). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.831524 ms (missed cycles : 6).[0m ×2 + 12.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950953 ms (missed cycles : 2). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950953 ms (missed cycles : 2).[0m ×2 + 13.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.049ms + 14.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973100 ms (missed cycles : 2). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973100 ms (missed cycles : 2).[0m ×2 + 14.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms ×3 + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 15.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968362 ms (missed cycles : 2). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968362 ms (missed cycles : 2).[0m ×2 + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.988167 ms (missed cycles : 5). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.988167 ms (missed cycles : 5).[0m ×2 + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330097 ms (missed cycles : 5). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330097 ms (missed cycles : 5).[0m ×2 + 18.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007185 ms (missed cycles : 4). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007185 ms (missed cycles : 4).[0m ×2 + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 19.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418439 ms (missed cycles : 3). + 19.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418439 ms (missed cycles : 3).[0m ×2 + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 20.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.968ms + 20.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657798 ms (missed cycles : 3). + 20.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657798 ms (missed cycles : 3).[0m ×2 + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms ×2 + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125901 ms (missed cycles : 2). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125901 ms (missed cycles : 2).[0m ×2 + 22.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 22.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 23.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031034 ms (missed cycles : 2). + 23.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031034 ms (missed cycles : 2).[0m ×2 + 23.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 24.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265220 ms (missed cycles : 2). + 24.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265220 ms (missed cycles : 2).[0m ×2 + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms ×2 + 24.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 25.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994766 ms (missed cycles : 2). + 25.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994766 ms (missed cycles : 2).[0m ×2 + 25.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.149ms + 26.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402001 ms (missed cycles : 2). + 26.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402001 ms (missed cycles : 2).[0m ×2 + 26.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 27.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886573 ms (missed cycles : 3). + 27.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886573 ms (missed cycles : 3).[0m ×2 + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms ×2 + 27.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 28.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482565 ms (missed cycles : 3). + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.711ms + 28.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482565 ms (missed cycles : 3).[0m ×2 + 29.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 29.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706065 ms (missed cycles : 3). + 29.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706065 ms (missed cycles : 3).[0m ×2 + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 30.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 30.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873547 ms (missed cycles : 3). + 30.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873547 ms (missed cycles : 3).[0m ×2 + 31.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.775ms + 31.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024615 ms (missed cycles : 2). + 31.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024615 ms (missed cycles : 2).[0m ×2 + 31.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 32.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 32.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463434 ms (missed cycles : 3). + 32.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463434 ms (missed cycles : 3).[0m ×2 + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 33.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828151 ms (missed cycles : 3). + 33.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828151 ms (missed cycles : 3).[0m ×2 + 34.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359035 ms (missed cycles : 6). + 34.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359035 ms (missed cycles : 6).[0m ×2 + 34.90sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.165056 ms (missed cycles : 8). + 35.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.165056 ms (missed cycles : 8).[0m ×2 + 36.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.177418 ms (missed cycles : 5). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.177418 ms (missed cycles : 5).[0m ×2 + 37.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757335 ms (missed cycles : 4). + 37.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757335 ms (missed cycles : 4).[0m ×2 + 38.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186214 ms (missed cycles : 2). + 38.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186214 ms (missed cycles : 2).[0m ×2 + 39.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424306 ms (missed cycles : 3). + 39.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424306 ms (missed cycles : 3).[0m ×2 + 39.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 40.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900760 ms (missed cycles : 3). + 40.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900760 ms (missed cycles : 3).[0m ×2 + 41.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074812 ms (missed cycles : 4). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074812 ms (missed cycles : 4).[0m ×2 + 42.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122664 ms (missed cycles : 4). + 42.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122664 ms (missed cycles : 4).[0m ×2 + 43.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563310 ms (missed cycles : 2). + 43.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563310 ms (missed cycles : 2).[0m ×2 + 44.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711940 ms (missed cycles : 2). + 44.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711940 ms (missed cycles : 2).[0m ×2 + 44.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 45.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345620 ms (missed cycles : 3). + 45.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345620 ms (missed cycles : 3).[0m ×2 + 47.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098855 ms (missed cycles : 5). + 47.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098855 ms (missed cycles : 5).[0m ×2 + 48.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880548 ms (missed cycles : 3). + 48.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880548 ms (missed cycles : 3).[0m ×2 + 48.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 49.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138333 ms (missed cycles : 2). + 49.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138333 ms (missed cycles : 2).[0m ×2 + 50.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.719848 ms (missed cycles : 5). + 50.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.719848 ms (missed cycles : 5).[0m ×2 + 51.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692394 ms (missed cycles : 2). + 51.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692394 ms (missed cycles : 2).[0m ×2 + 51.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 52.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096915 ms (missed cycles : 2). + 52.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096915 ms (missed cycles : 2).[0m ×2 + 53.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160865 ms (missed cycles : 2). + 53.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160865 ms (missed cycles : 2).[0m ×2 + 54.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.586732 ms (missed cycles : 4). + 54.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.586732 ms (missed cycles : 4).[0m ×2 + 55.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292436 ms (missed cycles : 2). + 55.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292436 ms (missed cycles : 2).[0m ×2 + 55.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.790ms + 56.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256933 ms (missed cycles : 3). + 56.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256933 ms (missed cycles : 3).[0m ×2 + 57.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198793 ms (missed cycles : 2). + 57.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198793 ms (missed cycles : 2).[0m ×2 + 58.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736644 ms (missed cycles : 2). + 58.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736644 ms (missed cycles : 2).[0m ×2 + 59.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830176 ms (missed cycles : 3). + 59.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830176 ms (missed cycles : 3).[0m ×2 + 59.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 60.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041847 ms (missed cycles : 3). + 60.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041847 ms (missed cycles : 3).[0m ×2 + 60.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784059259.02916646 seconds ×3 + 60.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 60.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.131ms + 60.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.362ms + 61.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784059259.59140420 seconds. ×3 + 61.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529449 ms (missed cycles : 4). + 61.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529449 ms (missed cycles : 4).[0m ×2 + 61.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.327ms + 61.38sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 61.40sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017715 ms (missed cycles : 2). + 62.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017715 ms (missed cycles : 2).[0m ×2 + 63.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.946ms
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	55.4s	180 warnings · 149 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.63sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784059433.42436671 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.799ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.043ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.446ms + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784059433.99228001 seconds. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.360ms + 4.65sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.061ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.567ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.828ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.935ms + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2).[0m ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.30sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.30sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms + 6.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.737ms + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959398 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959398 ms (missed cycles : 2).[0m ×2 + 7.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.588ms + 7.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.452ms + 7.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.968ms + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909919 ms (missed cycles : 3). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909919 ms (missed cycles : 3).[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394291 ms (missed cycles : 3). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394291 ms (missed cycles : 3).[0m ×2 + 9.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.255ms + 9.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.485ms + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137140 ms (missed cycles : 2). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137140 ms (missed cycles : 2).[0m ×2 + 10.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.967ms + 10.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.711ms + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187043 ms (missed cycles : 2). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187043 ms (missed cycles : 2).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 4073 particles 723 points - 5.158ms + 12.00sINFOamclParticle filter update iteration stats: 3191 particles 723 points - 4.072ms + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931400 ms (missed cycles : 2). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931400 ms (missed cycles : 2).[0m ×2 + 12.49sINFOamclParticle filter update iteration stats: 2847 particles 723 points - 2.989ms + 13.01sINFOamclParticle filter update iteration stats: 2418 particles 723 points - 3.276ms + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264724 ms (missed cycles : 5). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264724 ms (missed cycles : 5).[0m ×2 + 13.48sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 2.275ms + 14.00sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 2.175ms + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161353 ms (missed cycles : 2). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161353 ms (missed cycles : 2).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 1.886ms + 14.98sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 1.635ms + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188955 ms (missed cycles : 2). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188955 ms (missed cycles : 2).[0m ×2 + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms ×3 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568849 ms (missed cycles : 4). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568849 ms (missed cycles : 4).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355743 ms (missed cycles : 4). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355743 ms (missed cycles : 4).[0m ×2 + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.251ms + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039238 ms (missed cycles : 4). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039238 ms (missed cycles : 4).[0m ×2 + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.068ms ×2 + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085816 ms (missed cycles : 2). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085816 ms (missed cycles : 2).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.310ms + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383061 ms (missed cycles : 3). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383061 ms (missed cycles : 3).[0m ×2 + 21.12sINFOros2_control_nodeMuJoCo sim: 1.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.213ms + 21.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993287 ms (missed cycles : 2). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993287 ms (missed cycles : 2).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 22.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 22.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698774 ms (missed cycles : 2). + 22.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698774 ms (missed cycles : 2).[0m ×2 + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216754 ms (missed cycles : 2). + 23.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216754 ms (missed cycles : 2).[0m ×2 + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 24.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177695 ms (missed cycles : 3). + 24.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177695 ms (missed cycles : 3).[0m ×2 + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms ×3 + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 26.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507020 ms (missed cycles : 3). + 26.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507020 ms (missed cycles : 3).[0m ×2 + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.809ms + 26.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 27.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728541 ms (missed cycles : 2). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728541 ms (missed cycles : 2).[0m ×2 + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588182 ms (missed cycles : 4). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588182 ms (missed cycles : 4).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.875ms + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.038676 ms (missed cycles : 7). + 29.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.038676 ms (missed cycles : 7).[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 30.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332746 ms (missed cycles : 4). + 30.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332746 ms (missed cycles : 4).[0m ×2 + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 31.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188685 ms (missed cycles : 2). + 31.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188685 ms (missed cycles : 2).[0m ×2 + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 32.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229417 ms (missed cycles : 2). + 32.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229417 ms (missed cycles : 2).[0m ×2 + 32.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms + 33.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067621 ms (missed cycles : 2). + 33.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067621 ms (missed cycles : 2).[0m ×2 + 33.46sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160792 ms (missed cycles : 2). + 34.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160792 ms (missed cycles : 2).[0m ×2 + 35.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861415 ms (missed cycles : 2). + 35.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861415 ms (missed cycles : 2).[0m ×2 + 36.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771431 ms (missed cycles : 2). + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771431 ms (missed cycles : 2).[0m ×2 + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978326 ms (missed cycles : 2). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978326 ms (missed cycles : 2).[0m ×2 + 37.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 38.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219397 ms (missed cycles : 5). + 38.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219397 ms (missed cycles : 5).[0m ×2 + 39.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856230 ms (missed cycles : 2). + 39.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856230 ms (missed cycles : 2).[0m ×2 + 40.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 40.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419870 ms (missed cycles : 6). + 40.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419870 ms (missed cycles : 6).[0m ×2 + 41.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712165 ms (missed cycles : 4). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712165 ms (missed cycles : 4).[0m ×2 + 42.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749044 ms (missed cycles : 5). + 42.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749044 ms (missed cycles : 5).[0m ×2 + 43.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 43.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712619 ms (missed cycles : 3). + 43.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712619 ms (missed cycles : 3).[0m ×2 + 44.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859305 ms (missed cycles : 3). + 44.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859305 ms (missed cycles : 3).[0m ×2 + 45.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211176 ms (missed cycles : 4). + 45.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211176 ms (missed cycles : 4).[0m ×2 + 46.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864417 ms (missed cycles : 3). + 46.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864417 ms (missed cycles : 3).[0m ×2 + 46.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 47.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141465 ms (missed cycles : 2). + 47.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141465 ms (missed cycles : 2).[0m ×2 + 48.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744035 ms (missed cycles : 5). + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744035 ms (missed cycles : 5).[0m ×2 + 49.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519046 ms (missed cycles : 2). + 49.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519046 ms (missed cycles : 2).[0m ×2 + 50.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 50.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808594 ms (missed cycles : 2). + 50.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808594 ms (missed cycles : 2).[0m ×2 + 51.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191180 ms (missed cycles : 3). + 51.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191180 ms (missed cycles : 3).[0m ×2 + 52.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271910 ms (missed cycles : 2). + 52.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271910 ms (missed cycles : 2).[0m ×2 + 54.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080721 ms (missed cycles : 5). + 54.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080721 ms (missed cycles : 5).[0m ×2 + 54.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 55.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155680 ms (missed cycles : 2). + 55.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155680 ms (missed cycles : 2).[0m ×2 + 56.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110811 ms (missed cycles : 2). + 56.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110811 ms (missed cycles : 2).[0m ×2 + 57.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294176 ms (missed cycles : 5). + 57.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294176 ms (missed cycles : 5).[0m ×2 + 58.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.611948 ms (missed cycles : 6). + 58.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.611948 ms (missed cycles : 6).[0m ×2 + 58.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.787ms + 59.07sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784059488.81243753 seconds ×3 + 59.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.961ms + 59.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228685 ms (missed cycles : 2). + 59.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228685 ms (missed cycles : 2).[0m ×2 + 59.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.195ms + 59.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.330ms + 59.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784059489.36998963 seconds. ×3 + 59.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.709ms + 59.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 59.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790504 ms (missed cycles : 2). + 60.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790504 ms (missed cycles : 2).[0m ×2 + 61.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825667 ms (missed cycles : 3). + 61.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825667 ms (missed cycles : 3).[0m ×2 + 61.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.891ms
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	54.3s	177 warnings · 169 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731017 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731017 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142769 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142769 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307290 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307290 ms (missed cycles : 2).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097059 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097059 ms (missed cycles : 2).[0m ×2 + 3.71sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.71sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.76sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784059295.69715953 seconds ×3 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.908ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.651ms + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.861ms + 4.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784059296.25694036 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060102 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060102 ms (missed cycles : 4).[0m ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.727ms + 4.67sINFOobjective_server_nodeFound path in 0 iterations (8.2e-07 s). ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.849ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.754ms + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115823 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.914ms + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.151ms + 5.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.96sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.96sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872617 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872617 ms (missed cycles : 3).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.640ms + 6.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.254ms + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784751 ms (missed cycles : 4). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784751 ms (missed cycles : 4).[0m ×2 + 7.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.590ms + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312459 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312459 ms (missed cycles : 2).[0m ×2 + 8.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 9.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.417ms + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785089 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785089 ms (missed cycles : 2).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.250ms + 10.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.353ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705611 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705611 ms (missed cycles : 2).[0m ×2 + 10.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.034ms + 11.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.427ms + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587104 ms (missed cycles : 4). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587104 ms (missed cycles : 4).[0m ×2 + 11.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.186ms + 12.31sINFOamclParticle filter update iteration stats: 4683 particles 723 points - 4.834ms + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962419 ms (missed cycles : 3). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962419 ms (missed cycles : 3).[0m ×2 + 12.81sINFOamclParticle filter update iteration stats: 4177 particles 723 points - 5.183ms + 13.32sINFOamclParticle filter update iteration stats: 3721 particles 723 points - 4.991ms + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040989 ms (missed cycles : 4). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040989 ms (missed cycles : 4).[0m ×2 + 13.81sINFOamclParticle filter update iteration stats: 3544 particles 723 points - 3.942ms + 14.31sINFOamclParticle filter update iteration stats: 3482 particles 723 points - 3.829ms + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758468 ms (missed cycles : 2). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758468 ms (missed cycles : 2).[0m ×2 + 14.82sINFOamclParticle filter update iteration stats: 3419 particles 723 points - 3.709ms + 15.30sINFOamclParticle filter update iteration stats: 3211 particles 723 points - 3.983ms + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333198 ms (missed cycles : 2). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333198 ms (missed cycles : 2).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 2794 particles 723 points - 3.254ms + 16.31sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 2.859ms + 16.79sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 1.834ms + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080870 ms (missed cycles : 3). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080870 ms (missed cycles : 3).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms + 17.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.194ms + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861879 ms (missed cycles : 3). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861879 ms (missed cycles : 3).[0m ×2 + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128823 ms (missed cycles : 2). + 18.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128823 ms (missed cycles : 2).[0m ×2 + 19.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.119ms + 19.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031267 ms (missed cycles : 2). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031267 ms (missed cycles : 2).[0m ×2 + 20.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 20.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828348 ms (missed cycles : 2). + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828348 ms (missed cycles : 2).[0m ×2 + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 21.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.068ms + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458291 ms (missed cycles : 2). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458291 ms (missed cycles : 2).[0m ×2 + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms + 22.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 23.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754834 ms (missed cycles : 2). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754834 ms (missed cycles : 2).[0m ×2 + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 24.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994080 ms (missed cycles : 3). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994080 ms (missed cycles : 3).[0m ×2 + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 25.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.234136 ms (missed cycles : 6). + 25.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.234136 ms (missed cycles : 6).[0m ×2 + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms ×2 + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 26.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329200 ms (missed cycles : 3). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329200 ms (missed cycles : 3).[0m ×2 + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 27.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669901 ms (missed cycles : 2). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669901 ms (missed cycles : 2).[0m ×2 + 27.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 28.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223245 ms (missed cycles : 4). + 28.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223245 ms (missed cycles : 4).[0m ×2 + 28.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms ×2 + 29.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831090 ms (missed cycles : 2). + 29.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831090 ms (missed cycles : 2).[0m ×2 + 29.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms ×2 + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 30.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223205 ms (missed cycles : 2). + 30.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223205 ms (missed cycles : 2).[0m ×2 + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.150ms + 31.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.148548 ms (missed cycles : 5). + 31.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.148548 ms (missed cycles : 5).[0m ×2 + 32.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122303 ms (missed cycles : 2). + 32.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122303 ms (missed cycles : 2).[0m ×2 + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406354 ms (missed cycles : 3). + 33.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406354 ms (missed cycles : 3).[0m ×2 + 34.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.507473 ms (missed cycles : 7). + 34.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.507473 ms (missed cycles : 7).[0m ×2 + 35.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793064 ms (missed cycles : 2). + 35.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793064 ms (missed cycles : 2).[0m ×2 + 35.86sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.50sINFOobjective_server_nodePlanning for 50 path waypoints. ×3 + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194398 ms (missed cycles : 2). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194398 ms (missed cycles : 2).[0m ×2 + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.924049 ms (missed cycles : 6). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.924049 ms (missed cycles : 6).[0m ×2 + 37.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.117ms + 38.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 38.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319345 ms (missed cycles : 2). + 38.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319345 ms (missed cycles : 2).[0m ×2 + 38.91sINFOros2_control_nodeMuJoCo sim: 0.88% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 39.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 39.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423182 ms (missed cycles : 3). + 39.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423182 ms (missed cycles : 3).[0m ×2 + 39.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 40.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 40.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 40.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523286 ms (missed cycles : 4). + 40.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523286 ms (missed cycles : 4).[0m ×2 + 41.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099388 ms (missed cycles : 2). + 41.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099388 ms (missed cycles : 2).[0m ×2 + 42.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.942334 ms (missed cycles : 6). + 42.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.942334 ms (missed cycles : 6).[0m ×2 + 43.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965528 ms (missed cycles : 2). + 43.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965528 ms (missed cycles : 2).[0m ×2 + 44.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 44.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.957062 ms (missed cycles : 5). + 44.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.957062 ms (missed cycles : 5).[0m ×2 + 45.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 45.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425345 ms (missed cycles : 3). + 45.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425345 ms (missed cycles : 3).[0m ×2 + 46.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 46.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 46.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816434 ms (missed cycles : 2). + 46.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816434 ms (missed cycles : 2).[0m ×2 + 47.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.765ms + 48.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696589 ms (missed cycles : 3). + 48.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696589 ms (missed cycles : 3).[0m ×2 + 48.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 49.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759086 ms (missed cycles : 3). + 49.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759086 ms (missed cycles : 3).[0m ×2 + 49.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 50.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184191 ms (missed cycles : 4). + 50.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184191 ms (missed cycles : 4).[0m ×2 + 50.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 51.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077088 ms (missed cycles : 2). + 51.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077088 ms (missed cycles : 2).[0m ×2 + 51.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.778ms + 52.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529201 ms (missed cycles : 3). + 52.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529201 ms (missed cycles : 3).[0m ×2 + 52.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 53.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.240626 ms (missed cycles : 5). + 53.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.240626 ms (missed cycles : 5).[0m ×2 + 53.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.760ms + 54.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276402 ms (missed cycles : 3). + 54.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276402 ms (missed cycles : 3).[0m ×2 + 55.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 55.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915884 ms (missed cycles : 2). + 55.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915884 ms (missed cycles : 2).[0m ×2 + 56.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873169 ms (missed cycles : 2). + 56.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873169 ms (missed cycles : 2).[0m ×2 + 56.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.029ms + 57.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028961 ms (missed cycles : 3). + 57.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028961 ms (missed cycles : 3).[0m ×2 + 58.03sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1784059349.96711183 seconds ×3 + 58.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.451ms + 58.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861630 ms (missed cycles : 3). + 58.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861630 ms (missed cycles : 3).[0m ×2 + 58.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.990ms + 58.59sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784059350.52478671 seconds. ×3 + 58.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.406ms + 58.99sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 59.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.249ms + 59.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.790880 ms (missed cycles : 6). + 59.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.790880 ms (missed cycles : 6).[0m ×2 + 59.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.982ms + 59.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.921ms + 60.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.812ms + 60.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 60.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.624ms + 60.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509685 ms (missed cycles : 3). + 60.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509685 ms (missed cycles : 3).[0m ×2 + 60.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.396ms
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	147 warnings · 142 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.10sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 5.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.08sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.08sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582294 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582294 ms (missed cycles : 3).[0m ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720108 ms (missed cycles : 2). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720108 ms (missed cycles : 2).[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182292 ms (missed cycles : 5). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182292 ms (missed cycles : 5).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607411 ms (missed cycles : 3). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607411 ms (missed cycles : 3).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398680 ms (missed cycles : 3). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398680 ms (missed cycles : 3).[0m ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542778 ms (missed cycles : 3). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542778 ms (missed cycles : 3).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678743 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678743 ms (missed cycles : 2).[0m ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126313 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126313 ms (missed cycles : 2).[0m ×2 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599582 ms (missed cycles : 5). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599582 ms (missed cycles : 5).[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904615 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904615 ms (missed cycles : 3).[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782881 ms (missed cycles : 2). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782881 ms (missed cycles : 2).[0m ×2 + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872983 ms (missed cycles : 3). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872983 ms (missed cycles : 3).[0m ×2 + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.666841 ms (missed cycles : 6). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.666841 ms (missed cycles : 6).[0m ×2 + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158732 ms (missed cycles : 2). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158732 ms (missed cycles : 2).[0m ×2 + 20.80sINFOamclParticle filter update iteration stats: 1745 particles 723 points - 1.811ms + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869178 ms (missed cycles : 2). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869178 ms (missed cycles : 2).[0m ×2 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446857 ms (missed cycles : 4). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446857 ms (missed cycles : 4).[0m ×2 + 23.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198195 ms (missed cycles : 2). + 23.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198195 ms (missed cycles : 2).[0m ×2 + 24.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.877858 ms (missed cycles : 6). + 24.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.877858 ms (missed cycles : 6).[0m ×2 + 25.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379316 ms (missed cycles : 4). + 25.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379316 ms (missed cycles : 4).[0m ×2 + 26.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478029 ms (missed cycles : 3). + 26.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478029 ms (missed cycles : 3).[0m ×2 + 27.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012440 ms (missed cycles : 6). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012440 ms (missed cycles : 6).[0m ×2 + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815502 ms (missed cycles : 3). + 28.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815502 ms (missed cycles : 3).[0m ×2 + 29.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979891 ms (missed cycles : 2). + 29.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979891 ms (missed cycles : 2).[0m ×2 + 30.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306616 ms (missed cycles : 2). + 30.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306616 ms (missed cycles : 2).[0m ×2 + 31.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880313 ms (missed cycles : 2). + 31.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880313 ms (missed cycles : 2).[0m ×2 + 32.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554416 ms (missed cycles : 3). + 32.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554416 ms (missed cycles : 3).[0m ×2 + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115492 ms (missed cycles : 2). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115492 ms (missed cycles : 2).[0m ×2 + 34.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841448 ms (missed cycles : 3). + 34.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841448 ms (missed cycles : 3).[0m ×2 + 35.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.633296 ms (missed cycles : 6). + 35.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.633296 ms (missed cycles : 6).[0m ×2 + 36.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415055 ms (missed cycles : 3). + 36.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415055 ms (missed cycles : 3).[0m ×2 + 37.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862130 ms (missed cycles : 3). + 37.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862130 ms (missed cycles : 3).[0m ×2 + 38.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264680 ms (missed cycles : 3). + 38.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264680 ms (missed cycles : 3).[0m ×2 + 39.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610090 ms (missed cycles : 3). + 39.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610090 ms (missed cycles : 3).[0m ×2 + 40.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415061 ms (missed cycles : 3). + 40.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415061 ms (missed cycles : 3).[0m ×2 + 41.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.134134 ms (missed cycles : 6). + 41.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.134134 ms (missed cycles : 6).[0m ×2 + 42.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.603776 ms (missed cycles : 6). + 42.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.603776 ms (missed cycles : 6).[0m ×2 + 43.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406080 ms (missed cycles : 3). + 43.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406080 ms (missed cycles : 3).[0m ×2 + 44.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180494 ms (missed cycles : 2). + 44.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180494 ms (missed cycles : 2).[0m ×2 + 45.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096979 ms (missed cycles : 3). + 45.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096979 ms (missed cycles : 3).[0m ×2 + 46.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874607 ms (missed cycles : 2). + 46.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874607 ms (missed cycles : 2).[0m ×2 + 47.72sINFOjoint_trajectory_controllerGoal reached, success! + 47.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784059198.57843018 seconds ×3 + 47.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.345811 ms (missed cycles : 6). + 47.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.345811 ms (missed cycles : 6).[0m ×2 + 48.29sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784059199.13080192 seconds. ×3 + 49.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769699 ms (missed cycles : 2). + 49.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769699 ms (missed cycles : 2).[0m ×2 + 49.23sINFOobjective_server_nodeFound path in 0 iterations (2.2831e-05 s). ×2 + 49.23sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 50.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.637759 ms (missed cycles : 5). + 50.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.637759 ms (missed cycles : 5).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.1s	111 warnings · 121 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017715 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017715 ms (missed cycles : 2).[0m ×2 + 0.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.946ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110257 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110257 ms (missed cycles : 2).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.158ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995046 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995046 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.75sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.76sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784059263.64155126 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953434 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953434 ms (missed cycles : 2).[0m ×2 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619470 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619470 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784059265.19701743 seconds. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152530 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152530 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901185 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901185 ms (missed cycles : 3).[0m ×2 + 6.41sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.41sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.41sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.41sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520145 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520145 ms (missed cycles : 2).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847224 ms (missed cycles : 3). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847224 ms (missed cycles : 3).[0m ×2 + 8.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.021ms + 9.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.662ms + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.565151 ms (missed cycles : 7). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.565151 ms (missed cycles : 7).[0m ×2 + 9.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.069ms + 9.97sINFOros2_control_nodeMuJoCo sim: 0.78% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.690ms + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844216 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844216 ms (missed cycles : 2).[0m ×2 + 10.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.424ms + 11.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.548ms + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997447 ms (missed cycles : 2). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997447 ms (missed cycles : 2).[0m ×2 + 11.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.116ms + 12.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.183ms + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863747 ms (missed cycles : 3). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863747 ms (missed cycles : 3).[0m ×2 + 12.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.896ms + 13.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.908ms + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.244214 ms (missed cycles : 7). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.244214 ms (missed cycles : 7).[0m ×2 + 13.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.919ms + 14.06sINFOamclParticle filter update iteration stats: 4756 particles 723 points - 5.994ms + 14.56sINFOamclParticle filter update iteration stats: 4415 particles 723 points - 6.132ms + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931350 ms (missed cycles : 3). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931350 ms (missed cycles : 3).[0m ×2 + 15.08sINFOamclParticle filter update iteration stats: 4580 particles 723 points - 6.031ms + 15.56sINFOamclParticle filter update iteration stats: 4487 particles 723 points - 5.330ms + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729319 ms (missed cycles : 3). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729319 ms (missed cycles : 3).[0m ×2 + 16.06sINFOamclParticle filter update iteration stats: 4590 particles 723 points - 5.271ms + 16.57sINFOamclParticle filter update iteration stats: 4549 particles 723 points - 6.015ms + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912291 ms (missed cycles : 3). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912291 ms (missed cycles : 3).[0m ×2 + 17.06sINFOamclParticle filter update iteration stats: 4270 particles 723 points - 6.311ms + 17.55sINFOamclParticle filter update iteration stats: 4270 particles 723 points - 5.265ms + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734251 ms (missed cycles : 3). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734251 ms (missed cycles : 3).[0m ×2 + 18.07sINFOamclParticle filter update iteration stats: 3928 particles 723 points - 6.479ms + 18.57sINFOamclParticle filter update iteration stats: 4042 particles 723 points - 5.291ms + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220326 ms (missed cycles : 3). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220326 ms (missed cycles : 3).[0m ×2 + 19.06sINFOamclParticle filter update iteration stats: 3762 particles 723 points - 4.748ms + 19.56sINFOamclParticle filter update iteration stats: 3232 particles 723 points - 4.433ms + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080820 ms (missed cycles : 4). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080820 ms (missed cycles : 4).[0m ×2 + 20.07sINFOamclParticle filter update iteration stats: 2930 particles 723 points - 3.735ms + 20.57sINFOamclParticle filter update iteration stats: 2481 particles 723 points - 3.053ms + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.666257 ms (missed cycles : 6). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.666257 ms (missed cycles : 6).[0m ×2 + 21.06sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 3.019ms + 21.57sINFOamclParticle filter update iteration stats: 2030 particles 723 points - 2.689ms + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443240 ms (missed cycles : 4). + 21.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443240 ms (missed cycles : 4).[0m ×2 + 22.07sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 1.937ms + 22.57sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 1.890ms + 22.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851826 ms (missed cycles : 2). + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851826 ms (missed cycles : 2).[0m ×2 + 23.07sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 1.488ms + 23.57sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 1.417ms + 23.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503507 ms (missed cycles : 3). + 23.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503507 ms (missed cycles : 3).[0m ×2 + 24.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms + 24.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 24.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884858 ms (missed cycles : 3). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884858 ms (missed cycles : 3).[0m ×2 + 25.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 25.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 25.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.145942 ms (missed cycles : 8). + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.145942 ms (missed cycles : 8).[0m ×2 + 26.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.105ms + 26.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931796 ms (missed cycles : 3). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931796 ms (missed cycles : 3).[0m ×2 + 27.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 27.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 28.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386809 ms (missed cycles : 2). + 28.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386809 ms (missed cycles : 2).[0m ×2 + 28.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 28.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.184ms + 29.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.795003 ms (missed cycles : 6). + 29.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.795003 ms (missed cycles : 6).[0m ×2 + 29.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 30.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 30.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091529 ms (missed cycles : 2). + 30.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091529 ms (missed cycles : 2).[0m ×2 + 30.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 31.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 31.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731017 ms (missed cycles : 2). + 31.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731017 ms (missed cycles : 2).[0m ×2 + 31.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 32.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 32.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142769 ms (missed cycles : 2). + 32.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142769 ms (missed cycles : 2).[0m ×2 + 32.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 33.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307290 ms (missed cycles : 2). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307290 ms (missed cycles : 2).[0m ×2 + 34.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 34.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097059 ms (missed cycles : 2). + 34.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097059 ms (missed cycles : 2).[0m ×2 + 34.82sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784059295.69715953 seconds ×3 + 34.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.908ms + 35.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.651ms + 35.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.861ms + 35.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784059296.25694036 seconds. ×3 + 35.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060102 ms (missed cycles : 4). + 35.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060102 ms (missed cycles : 4).[0m ×2 + 35.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.727ms + 35.73sINFOobjective_server_nodeFound path in 0 iterations (8.2e-07 s). ×2 + 35.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.849ms + 36.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.754ms + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115823 ms (missed cycles : 2). + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115823 ms (missed cycles : 2).[0m ×2 + 36.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.914ms + 36.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.151ms + 36.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 37.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872617 ms (missed cycles : 3). + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872617 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	13.5s	58 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155680 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155680 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110811 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110811 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294176 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294176 ms (missed cycles : 5).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.611948 ms (missed cycles : 6). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.611948 ms (missed cycles : 6).[0m ×2 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.787ms + 3.88sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.88sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784059488.81243753 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.961ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228685 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228685 ms (missed cycles : 2).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.195ms + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.330ms + 4.48sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784059489.36998963 seconds. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.709ms + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790504 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790504 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825667 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825667 ms (missed cycles : 3).[0m ×2 + 6.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.891ms + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942957 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942957 ms (missed cycles : 3).[0m ×2 + 7.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.188ms + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225613 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225613 ms (missed cycles : 2).[0m ×2 + 9.10sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 9.13sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.16sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 9.19sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.22sINFOobjective_server_nodeFound path in 0 iterations (8.8e-07 s). ×2 + 9.27sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.31sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 9.46sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.51sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476901 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476901 ms (missed cycles : 2).[0m ×2 + 9.83sINFOobjective_server_nodeFound path in 69 iterations (0.0694522 s). ×2 + 10.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 10.16sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923856 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923856 ms (missed cycles : 3).[0m ×2 + 10.66sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.71sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 11.14sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.44sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358409 ms (missed cycles : 5). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358409 ms (missed cycles : 5).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104599 ms (missed cycles : 2). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104599 ms (missed cycles : 2).[0m ×2 + 13.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265051 ms (missed cycles : 2). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265051 ms (missed cycles : 2).[0m ×2 + 13.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.631ms + 14.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.149ms + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883491 ms (missed cycles : 3). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883491 ms (missed cycles : 3).[0m ×2 + 14.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.486ms + 15.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.829ms + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831492 ms (missed cycles : 2). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831492 ms (missed cycles : 2).[0m ×2 + 16.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.457ms + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420640 ms (missed cycles : 4). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420640 ms (missed cycles : 4).[0m ×2 + 17.44sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784059502.32802868 seconds ×3 + 17.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.852ms + 17.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.038ms + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721196 ms (missed cycles : 2). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721196 ms (missed cycles : 2).[0m ×2 + 17.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.843ms + 18.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784059502.91723585 seconds. ×3 + 18.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.04sINFOmove_groupClearing octomap...[0m ×2 + 18.05sINFOmove_groupOctomap cleared.[0m ×2 + 18.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.791ms + 18.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784059503.37937117 seconds ×3 + 18.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.383ms + 18.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.195ms + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.336208 ms (missed cycles : 12). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.336208 ms (missed cycles : 12).[0m ×2 + 19.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784059503.93184161 seconds. ×3 + 19.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.711ms + 19.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.356ms + 19.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784059504.36199260 seconds ×3 + 19.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.291ms + 19.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.385608 ms (missed cycles : 6). + 19.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.210ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.3s	77 errors · 33 warnings · 394 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.149ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883491 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883491 ms (missed cycles : 3).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.486ms + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.829ms + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831492 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831492 ms (missed cycles : 2).[0m ×2 + 1.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.457ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420640 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420640 ms (missed cycles : 4).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784059502.32802868 seconds ×3 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.852ms + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.038ms + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721196 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721196 ms (missed cycles : 2).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.843ms + 3.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784059502.91723585 seconds. ×3 + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.60sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.791ms + 4.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784059503.37937117 seconds ×3 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.383ms + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.195ms + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.336208 ms (missed cycles : 12). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.336208 ms (missed cycles : 12).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784059503.93184161 seconds. ×3 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.711ms + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.356ms + 5.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784059504.36199260 seconds ×3 + 5.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.291ms + 5.27sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.385608 ms (missed cycles : 6). + 5.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.210ms + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.020ms + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.385608 ms (missed cycles : 6).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853549 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853549 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982551 ms (missed cycles : 3). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982551 ms (missed cycles : 3).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039185 ms (missed cycles : 3). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039185 ms (missed cycles : 3).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845226 ms (missed cycles : 3). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845226 ms (missed cycles : 3).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940396 ms (missed cycles : 3). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940396 ms (missed cycles : 3).[0m ×2 + 11.12sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 11.17sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 11.21sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 11.25sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 11.27sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 11.29sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.31sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 11.33sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 11.34sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.35sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 11.37sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 11.39sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 11.41sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 11.43sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.43sINFOweb_video_server-31process has finished cleanly [pid 9306] ×2 + 11.44sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 11.47sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 11.47sINFOcontroller_managerShutdown request received.... + 11.47sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.47sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.47sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.47sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.47sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.47sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.47sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.47sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.47sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.47sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.47sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.47sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.47sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.47sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.47sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.47sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.47sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.47sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.47sINFOcontroller_managerShutting down the controller manager. + 11.47sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9288] ×2 + 11.48sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.50sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 11.51sERRORmove_group-19process has died [pid 9233, 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_h4hjeqwh --params-file /tmp/launch_params_owm8ljn1 --params-file /tmp/launch_params_v1e6xdaa --params-file /tmp/launch_params_9ufu17w8 --params-file /tmp/launch_params_9hjkjphq --params-file /tmp/launch_params_jodgq685']. ×2 + 11.52sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 11.54sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.56sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.58sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.58sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.58sINFOcontroller_serverCleaning up + 11.58sINFOlocal_costmap.local_costmapCleaning up + 11.58sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.58sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.58sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.58sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.58sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.58sINFOui_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 + 11.58sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.58sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.58sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.58sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.58sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.58sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.58sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.58sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.58sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.58sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.59sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.59sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.59sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.59sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.59sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.59sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.59sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.59sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.59sERRORmove_groupStack trace (most recent call last) in thread 9835: ×2 + 11.59sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.59sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c9d9b2a63, in __clone ×2 + 11.59sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c9d925aa3, in ×2 + 11.59sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8c9dbb7db3, in ×2 + 11.59sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f8c9e20c1c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.59sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c9df2a4d0, in rclcpp::Rate::sleep() ×2 + 11.59sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c9de7da88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.59sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 11.59sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c9de42a71, in ×2 + 11.59sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8c9db86390, in __cxa_throw ×2 + 11.59sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8c9db70a54, in std::terminate() ×2 + 11.59sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8c9db860d9, in ×2 + 11.59sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8c9db70ff4, in ×2 + 11.59sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c9d8b18fe, in abort ×2 + 11.59sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c9d8ce27d, in raise ×2 + 11.59sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c9d927b2c, in pthread_kill ×2 + 11.59sERRORmove_groupAborted (Signal sent by tkill() 9233 0) ×2 + 11.60sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.60sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.60sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.60sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.60sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.60sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.60sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.60sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.60sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.60sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.60sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.60sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.60sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.60sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.60sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.60sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.60sINFOobjective_server_node[2026-07-14 20:05:10.828] [moveit_pro_license] [info] ×2 + 11.60sINFOobjective_server_node************************************************* ×4 + 11.60sINFOobjective_server_node* MoveIt Pro License ×2 + 11.60sINFOobjective_server_node* Application has successfully terminated ×2 + 11.60sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.60sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.60sINFOodom_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 + 11.60sINFOodom_qos_relay.pymain() ×2 + 11.60sINFOodom_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 + 11.60sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.60sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.60sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.60sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.60sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.60sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.60sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.60sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.60sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.60sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.61sINFOros2_control_nodeMuJoCo sim: 1.10% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 11.61sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.61sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56476b8936a4, in _start ×2 + 11.61sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f252a7fe28a, in __libc_start_main ×2 + 11.61sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f252a7fe1d0, in ×2 + 11.61sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f252a81bbbd, in exit ×2 + 11.61sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f252a81ba75, in ×2 + 11.61sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f252acea8f5, in spdlog::details::registry::~registry() ×2 + 11.61sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56476b893d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.61sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56476b89a315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.61sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56476b8995a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.61sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56476b895b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.61sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56476b893d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.61sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f252b3a0454, in rclcpp::Node::~Node() ×2 + 11.61sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f252b35b515, in ×2 + 11.61sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f252b39ed20, in ×2 + 11.61sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f252b39ec63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.61sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f252b35b5d9, in ×2 + 11.61sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f252b360161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.61sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f24edca2b50]) ×2 + 11.61sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.61sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.62sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.62sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.62sINFOsmoother_serverCleaning up + 11.64sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.64sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.64sINFOmap_serverDeactivating + 11.64sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.64sERRORobjective_server_node_main-24process has died [pid 9279, 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__uulgz0s --params-file /tmp/launch_params_kqf821l7 --params-file /tmp/launch_params_hbyof7jz --params-file /tmp/launch_params__wi3hms2 --params-file /tmp/launch_params_ihyj860r --params-file /tmp/launch_params_99vgoc4i --params-file /tmp/launch_params_3i3x4e44 --params-file /tmp/launch_params_nvilknc4 --params-file /tmp/launch_params_2n5so8m8']. ×2 + 11.64sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 11.65sINFOmap_serverCleaning up + 11.65sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.65sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.65sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.65sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.65sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.65sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.67sERRORamclThe bond connection to the lifecycle manager has been broken + 11.68sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.68sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.68sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.68sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.68sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.68sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.68sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.68sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.68sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.69sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 12.02sERRORcomponent_container_isolated-1process has died [pid 9149, 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_fhg75mga --params-file /tmp/launch_params_ewi67618 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.38sERRORui_teleop_bridge-28process has died [pid 9286, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_mtqjepok']. ×2 + 12.39sINFOexecute_objective_bridge-27process has finished cleanly [pid 9285] ×2 + 12.40sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9278] ×2 + 12.41sINFOcomponent_container_mt-26process has finished cleanly [pid 9284] ×2 + 12.43sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9236] ×2 + 12.48sINFOparameter_manager_node-20process has finished cleanly [pid 9234] ×2 + 12.50sINFOwaypoint_manager_node-21process has finished cleanly [pid 9235] ×2 + 12.53sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9154] ×2 + 12.55sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9153] ×2 + 12.57sINFOcomponent_container_mt-25process has finished cleanly [pid 9281] ×2 + 12.58sINFOstatic_transform_publisher-3process has finished cleanly [pid 9151] ×2 + 12.60sINFOstatic_transform_publisher-2process has finished cleanly [pid 9150] ×2 + 12.63sERRORodom_qos_relay.py-4process has died [pid 9152, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.87sINFOweb_bridge-29process has finished cleanly [pid 9287] ×2 + 13.87sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 14.27sINFOros2_control_node-7process has finished cleanly [pid 9155] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	3 errors · 51 warnings · 93 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.760ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276402 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276402 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915884 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915884 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873169 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873169 ms (missed cycles : 2).[0m ×2 + 2.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.029ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028961 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028961 ms (missed cycles : 3).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.13sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1784059349.96711183 seconds ×3 + 4.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.451ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861630 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861630 ms (missed cycles : 3).[0m ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.990ms + 4.69sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784059350.52478671 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.406ms + 5.09sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.249ms + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.790880 ms (missed cycles : 6). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.790880 ms (missed cycles : 6).[0m ×2 + 5.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.982ms + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.921ms + 6.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.812ms + 6.31sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 6.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.37sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.624ms + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509685 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509685 ms (missed cycles : 3).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.396ms + 7.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.425ms + 7.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.962ms + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.271010 ms (missed cycles : 5). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.271010 ms (missed cycles : 5).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822571 ms (missed cycles : 3). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822571 ms (missed cycles : 3).[0m ×2 + 9.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.941ms + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326175 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326175 ms (missed cycles : 2).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 4114 particles 723 points - 5.008ms + 10.30sINFOamclParticle filter update iteration stats: 3295 particles 723 points - 4.201ms + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907724 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907724 ms (missed cycles : 2).[0m ×2 + 10.80sINFOamclParticle filter update iteration stats: 2868 particles 723 points - 4.112ms + 11.30sINFOamclParticle filter update iteration stats: 2606 particles 723 points - 2.990ms + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065590 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065590 ms (missed cycles : 2).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 2135 particles 723 points - 2.517ms + 12.30sINFOamclParticle filter update iteration stats: 2030 particles 723 points - 2.090ms + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180670 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180670 ms (missed cycles : 2).[0m ×2 + 12.81sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 2.088ms + 13.30sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 2.094ms + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.305386 ms (missed cycles : 8). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.305386 ms (missed cycles : 8).[0m ×2 + 13.81sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 1.509ms + 14.31sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.611ms + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724199 ms (missed cycles : 2). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724199 ms (missed cycles : 2).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 1.297ms + 15.09sINFOjoint_trajectory_controllerGot request to cancel goal + 15.09sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 15.09sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 15.09sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 15.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784059360.95875168 seconds ×3 + 15.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.034ms + 15.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.403ms + 15.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784059361.52418041 seconds. ×3 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.889928 ms (missed cycles : 6). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.889928 ms (missed cycles : 6).[0m ×2 + 15.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.801ms + 16.03sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 16.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.565ms + 16.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.512ms + 16.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.873ms + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798661 ms (missed cycles : 3). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798661 ms (missed cycles : 3).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.641ms + 17.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.738ms + 17.80sINFOamclParticle filter update iteration stats: 4570 particles 723 points - 5.173ms
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	5.6s	36 warnings · 65 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198793 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198793 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736644 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736644 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830176 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830176 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041847 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041847 ms (missed cycles : 3).[0m ×2 + 3.22sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.22sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784059259.02916646 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.131ms + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.362ms + 3.79sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784059259.59140420 seconds. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529449 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529449 ms (missed cycles : 4).[0m ×2 + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.327ms + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.19sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.19sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.19sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.19sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017715 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017715 ms (missed cycles : 2).[0m ×2 + 5.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.946ms + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110257 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110257 ms (missed cycles : 2).[0m ×2 + 7.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.158ms + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995046 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995046 ms (missed cycles : 2).[0m ×2 + 7.84sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784059263.64155126 seconds ×3 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953434 ms (missed cycles : 2). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953434 ms (missed cycles : 2).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619470 ms (missed cycles : 3). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619470 ms (missed cycles : 3).[0m ×2 + 9.40sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784059265.19701743 seconds. ×3 + 9.76sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152530 ms (missed cycles : 2). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152530 ms (missed cycles : 2).[0m ×2 + 11.25sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901185 ms (missed cycles : 3). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901185 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.6s	30 warnings · 58 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406080 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180494 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180494 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096979 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096979 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874607 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874607 ms (missed cycles : 2).[0m ×2 + 3.84sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.84sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784059198.57843018 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.345811 ms (missed cycles : 6). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.345811 ms (missed cycles : 6).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784059199.13080192 seconds. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769699 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769699 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (2.2831e-05 s). ×2 + 5.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.37sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.37sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.37sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.637759 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.637759 ms (missed cycles : 5).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396850 ms (missed cycles : 2). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396850 ms (missed cycles : 2).[0m ×2 + 7.48sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784059202.20096135 seconds ×3 + 8.03sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784059202.75899386 seconds. ×3 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776311 ms (missed cycles : 3). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776311 ms (missed cycles : 3).[0m ×2 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086526 ms (missed cycles : 2). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086526 ms (missed cycles : 2).[0m ×2 + 9.98sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.0s	24 warnings · 48 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265051 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265051 ms (missed cycles : 2).[0m ×2 + 0.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.631ms + 0.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.149ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883491 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883491 ms (missed cycles : 3).[0m ×2 + 1.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.486ms + 1.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.829ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831492 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831492 ms (missed cycles : 2).[0m ×2 + 2.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.457ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420640 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420640 ms (missed cycles : 4).[0m ×2 + 3.68sINFOjoint_trajectory_controllerGoal reached, success! + 3.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.72sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784059502.32802868 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.852ms + 3.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.038ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721196 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721196 ms (missed cycles : 2).[0m ×2 + 4.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.843ms + 4.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784059502.91723585 seconds. ×3 + 4.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.32sINFOmove_groupClearing octomap...[0m ×2 + 4.32sINFOmove_groupOctomap cleared.[0m ×2 + 4.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.791ms + 4.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784059503.37937117 seconds ×3 + 4.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.383ms + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.195ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.336208 ms (missed cycles : 12). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.336208 ms (missed cycles : 12).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784059503.93184161 seconds. ×3 + 5.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.711ms + 5.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.356ms + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784059504.36199260 seconds ×3 + 5.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.291ms + 5.99sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.385608 ms (missed cycles : 6). + 6.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.210ms + 6.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.020ms + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.385608 ms (missed cycles : 6).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853549 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853549 ms (missed cycles : 2).[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 3.198793 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198793 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736644 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736644 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830176 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830176 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041847 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041847 ms (missed cycles : 3).[0m ×2 + 3.22sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784059259.02916646 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.131ms + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.362ms + 3.79sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784059259.59140420 seconds. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529449 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529449 ms (missed cycles : 4).[0m ×2 + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.327ms + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.19sINFOjoint_trajectory_controllerReceived new action goal + 4.19sINFOjoint_trajectory_controllerAccepted new action goal + 4.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017715 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017715 ms (missed cycles : 2).[0m ×2 + 5.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.946ms
− 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 3.198793 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198793 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736644 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736644 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830176 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830176 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041847 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041847 ms (missed cycles : 3).[0m ×2 + 3.22sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784059259.02916646 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.131ms + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.362ms + 3.79sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784059259.59140420 seconds. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529449 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529449 ms (missed cycles : 4).[0m ×2 + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.327ms + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.19sINFOjoint_trajectory_controllerReceived new action goal + 4.19sINFOjoint_trajectory_controllerAccepted new action goal + 4.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017715 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017715 ms (missed cycles : 2).[0m ×2 + 5.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.946ms
− 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 3.198793 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198793 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736644 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736644 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830176 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830176 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041847 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041847 ms (missed cycles : 3).[0m ×2 + 3.22sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784059259.02916646 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.131ms + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.362ms + 3.79sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784059259.59140420 seconds. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529449 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529449 ms (missed cycles : 4).[0m ×2 + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.327ms + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.19sINFOjoint_trajectory_controllerReceived new action goal + 4.19sINFOjoint_trajectory_controllerAccepted new action goal + 4.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017715 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017715 ms (missed cycles : 2).[0m ×2 + 5.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.946ms
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	21 warnings · 43 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731017 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731017 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142769 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142769 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307290 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307290 ms (missed cycles : 2).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097059 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097059 ms (missed cycles : 2).[0m ×2 + 3.71sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784059295.69715953 seconds ×3 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.908ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.651ms + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.861ms + 4.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784059296.25694036 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060102 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060102 ms (missed cycles : 4).[0m ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.727ms + 4.67sINFOobjective_server_nodeFound path in 0 iterations (8.2e-07 s). ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.849ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.754ms + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115823 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.914ms + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.151ms + 5.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872617 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872617 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	21 warnings · 43 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731017 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731017 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142769 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142769 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307290 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307290 ms (missed cycles : 2).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097059 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097059 ms (missed cycles : 2).[0m ×2 + 3.71sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784059295.69715953 seconds ×3 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.908ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.651ms + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.861ms + 4.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784059296.25694036 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060102 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060102 ms (missed cycles : 4).[0m ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.727ms + 4.67sINFOobjective_server_nodeFound path in 0 iterations (8.2e-07 s). ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.849ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.754ms + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115823 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.914ms + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.151ms + 5.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872617 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872617 ms (missed cycles : 3).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.51sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 43 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784059433.42436671 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.799ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.043ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.446ms + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784059433.99228001 seconds. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.360ms + 4.65sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.061ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.567ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.828ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.935ms + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2).[0m ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.51sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	19 warnings · 47 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265051 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265051 ms (missed cycles : 2).[0m ×2 + 0.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.631ms + 0.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.149ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883491 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883491 ms (missed cycles : 3).[0m ×2 + 1.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.486ms + 1.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.829ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831492 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831492 ms (missed cycles : 2).[0m ×2 + 2.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.457ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420640 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420640 ms (missed cycles : 4).[0m ×2 + 3.68sINFOjoint_trajectory_controllerGoal reached, success! + 3.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.72sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784059502.32802868 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.852ms + 3.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.038ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721196 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721196 ms (missed cycles : 2).[0m ×2 + 4.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.843ms + 4.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784059502.91723585 seconds. ×3 + 4.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.32sINFOmove_groupClearing octomap...[0m ×2 + 4.32sINFOmove_groupOctomap cleared.[0m ×2 + 4.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.791ms + 4.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784059503.37937117 seconds ×3 + 4.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.383ms + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.195ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.336208 ms (missed cycles : 12). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.336208 ms (missed cycles : 12).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784059503.93184161 seconds. ×3 + 5.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.711ms + 5.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.356ms + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784059504.36199260 seconds ×3 + 5.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.291ms + 5.99sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.385608 ms (missed cycles : 6). + 6.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.210ms
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 112 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.10sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 5.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.08sINFOjoint_trajectory_controllerAccepted new action goal + 6.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582294 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582294 ms (missed cycles : 3).[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 3.406080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406080 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180494 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180494 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096979 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096979 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874607 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874607 ms (missed cycles : 2).[0m ×2 + 3.84sINFOjoint_trajectory_controllerGoal reached, success! + 3.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784059198.57843018 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.345811 ms (missed cycles : 6). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.345811 ms (missed cycles : 6).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784059199.13080192 seconds. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769699 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769699 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (2.2831e-05 s). ×2 + 5.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.37sINFOjoint_trajectory_controllerReceived new action goal + 5.37sINFOjoint_trajectory_controllerAccepted new action goal + 5.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.637759 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.637759 ms (missed cycles : 5).[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 3.406080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406080 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180494 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180494 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096979 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096979 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874607 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874607 ms (missed cycles : 2).[0m ×2 + 3.84sINFOjoint_trajectory_controllerGoal reached, success! + 3.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784059198.57843018 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.345811 ms (missed cycles : 6). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.345811 ms (missed cycles : 6).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784059199.13080192 seconds. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769699 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769699 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (2.2831e-05 s). ×2 + 5.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.37sINFOjoint_trajectory_controllerReceived new action goal + 5.37sINFOjoint_trajectory_controllerAccepted new action goal + 5.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.637759 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.637759 ms (missed cycles : 5).[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 2.424919 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.51sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 58 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784059198.57843018 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.345811 ms (missed cycles : 6). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.345811 ms (missed cycles : 6).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784059199.13080192 seconds. ×3 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769699 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769699 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeFound path in 0 iterations (2.2831e-05 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.54sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.54sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.54sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.54sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.637759 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.637759 ms (missed cycles : 5).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396850 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396850 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784059202.20096135 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784059202.75899386 seconds. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776311 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776311 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086526 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086526 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
− 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 3.198793 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198793 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736644 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736644 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830176 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830176 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041847 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041847 ms (missed cycles : 3).[0m ×2 + 3.22sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784059259.02916646 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.131ms + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.362ms + 3.79sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784059259.59140420 seconds. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529449 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529449 ms (missed cycles : 4).[0m ×2 + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.327ms + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.19sINFOjoint_trajectory_controllerReceived new action goal + 4.19sINFOjoint_trajectory_controllerAccepted new action goal + 4.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017715 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017715 ms (missed cycles : 2).[0m ×2 + 5.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.946ms
− 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 3.198793 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198793 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736644 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736644 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830176 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830176 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041847 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041847 ms (missed cycles : 3).[0m ×2 + 3.22sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784059259.02916646 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.131ms + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.362ms + 3.79sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784059259.59140420 seconds. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529449 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529449 ms (missed cycles : 4).[0m ×2 + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.327ms + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.19sINFOjoint_trajectory_controllerReceived new action goal + 4.19sINFOjoint_trajectory_controllerAccepted new action goal + 4.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017715 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017715 ms (missed cycles : 2).[0m ×2 + 5.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.946ms
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	21 warnings · 43 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731017 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731017 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142769 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142769 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307290 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307290 ms (missed cycles : 2).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097059 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097059 ms (missed cycles : 2).[0m ×2 + 3.71sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784059295.69715953 seconds ×3 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.908ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.651ms + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.861ms + 4.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784059296.25694036 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060102 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060102 ms (missed cycles : 4).[0m ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.727ms + 4.67sINFOobjective_server_nodeFound path in 0 iterations (8.2e-07 s). ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.849ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.754ms + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115823 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.914ms + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.151ms + 5.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872617 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872617 ms (missed cycles : 3).[0m ×2
− skipped	Point-to-Point Trajectory	point-to-point_trajectory.xml	0.0s	21 warnings · 43 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784059433.42436671 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.799ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.043ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.446ms + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784059433.99228001 seconds. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.360ms + 4.65sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.061ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.567ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.828ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.935ms + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2).[0m ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 43 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784059433.42436671 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.799ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.043ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.446ms + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784059433.99228001 seconds. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.360ms + 4.65sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.061ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.567ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.828ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.935ms + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2).[0m ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 43 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784059433.42436671 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.799ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.043ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.446ms + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784059433.99228001 seconds. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.360ms + 4.65sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.061ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.567ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.828ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.935ms + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2).[0m ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 43 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784059433.42436671 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.799ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.043ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.446ms + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784059433.99228001 seconds. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.360ms + 4.65sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.061ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.567ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.828ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.935ms + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2).[0m ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 43 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784059433.42436671 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.799ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.043ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.446ms + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784059433.99228001 seconds. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.360ms + 4.65sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.061ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.567ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.828ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.935ms + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2).[0m ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 43 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784059433.42436671 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.799ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.043ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.446ms + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784059433.99228001 seconds. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.360ms + 4.65sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.061ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.567ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.828ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.935ms + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2).[0m ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 43 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740435 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872408 ms (missed cycles : 6).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530779 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974017 ms (missed cycles : 3).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1784059433.42436671 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.799ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.043ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669674 ms (missed cycles : 5).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.446ms + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784059433.99228001 seconds. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.360ms + 4.65sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.061ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.567ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294313 ms (missed cycles : 2).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.828ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.935ms + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701681 ms (missed cycles : 2).[0m ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_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	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.51sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 7.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 7.39sINFOjoint_trajectory_controllerReceived new action goal + 7.39sINFOjoint_trajectory_controllerAccepted new action goal + 7.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.39sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.51sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	24 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430495 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430495 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 2.35sINFOros2_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 8.053266 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 4.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.55sINFOmove_groupClearing octomap...[0m ×2 + 4.55sINFOmove_groupOctomap cleared.[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 5.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 5.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 6.45sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 7.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 7.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[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 6.430495 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430495 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 2.35sINFOros2_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 8.053266 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 4.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.55sINFOmove_groupClearing octomap...[0m ×2 + 4.55sINFOmove_groupOctomap cleared.[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 5.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 5.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 6.45sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.51sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[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 2.424919 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.51sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.51sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[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 2.424919 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424919 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 1.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.51sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2

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

10 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_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	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582294 ms (missed cycles : 3). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582294 ms (missed cycles : 3).[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	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_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	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387574 ms (missed cycles : 2).[0m ×2 + 0.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053266 ms (missed cycles : 5).[0m ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932587 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784059153.03692222 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784059153.04715919 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784059153.61235690 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784059153.62374377 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751337 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784059154.18126941 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784059154.33195829 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162710 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784059154.92558932 seconds. ×3 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784059154.99572301 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784059155.55089974 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695503 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274164 ms (missed cycles : 2).[0m ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2