69
Total objective tests
16
Objectives passed
1
Objectives failed
52
Objectives skipped
24.7s
Avg test time
94%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives1 fail11 pass25 skip
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 90.5s | 3 errors · 279 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958777 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958777 ms (missed cycles : 3).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.783ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706785 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706785 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162896 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162896 ms (missed cycles : 4).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.743ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318422 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318422 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.28sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.32sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783960405.99346972 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.818ms + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.127ms + 3.87sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783960406.54373622 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.217ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709229 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709229 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.913ms + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.684ms + 5.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.062ms + 5.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.16sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.16sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973278 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973278 ms (missed cycles : 2).[0m ×2 + 5.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.677ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916837 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916837 ms (missed cycles : 2).[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.617ms + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476653 ms (missed cycles : 3). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476653 ms (missed cycles : 3).[0m ×2 + 7.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.730ms + 8.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.470ms + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227484 ms (missed cycles : 4). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227484 ms (missed cycles : 4).[0m ×2 + 8.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.564ms + 9.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.848ms + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636729 ms (missed cycles : 3). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636729 ms (missed cycles : 3).[0m ×2 + 9.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.457ms + 10.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.270ms + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096729 ms (missed cycles : 2). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096729 ms (missed cycles : 2).[0m ×2 + 10.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.702ms + 11.33sINFOamclParticle filter update iteration stats: 4973 particles 723 points - 4.463ms + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362794 ms (missed cycles : 5). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362794 ms (missed cycles : 5).[0m ×2 + 11.82sINFOamclParticle filter update iteration stats: 4477 particles 723 points - 4.426ms + 12.33sINFOamclParticle filter update iteration stats: 3938 particles 723 points - 3.884ms + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.370041 ms (missed cycles : 4). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.370041 ms (missed cycles : 4).[0m ×2 + 12.81sINFOamclParticle filter update iteration stats: 3502 particles 723 points - 3.331ms + 13.32sINFOamclParticle filter update iteration stats: 2774 particles 723 points - 3.046ms + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189286 ms (missed cycles : 2). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189286 ms (missed cycles : 2).[0m ×2 + 13.83sINFOamclParticle filter update iteration stats: 2544 particles 723 points - 2.502ms + 14.32sINFOamclParticle filter update iteration stats: 2051 particles 723 points - 2.527ms + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718814 ms (missed cycles : 2). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718814 ms (missed cycles : 2).[0m ×2 + 14.83sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 1.643ms + 15.33sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 1.298ms + 15.82sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 1.519ms + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.778023 ms (missed cycles : 5). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.778023 ms (missed cycles : 5).[0m ×2 + 16.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 16.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557839 ms (missed cycles : 2). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557839 ms (missed cycles : 2).[0m ×2 + 17.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.806ms + 17.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903384 ms (missed cycles : 3). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903384 ms (missed cycles : 3).[0m ×2 + 18.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 18.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008205 ms (missed cycles : 5). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008205 ms (missed cycles : 5).[0m ×2 + 19.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 19.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 19.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258309 ms (missed cycles : 4). + 19.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258309 ms (missed cycles : 4).[0m ×2 + 20.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 20.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880467 ms (missed cycles : 3). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880467 ms (missed cycles : 3).[0m ×2 + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.778ms + 21.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617475 ms (missed cycles : 3). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617475 ms (missed cycles : 3).[0m ×2 + 22.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 22.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 23.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 23.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862059 ms (missed cycles : 2). + 23.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862059 ms (missed cycles : 2).[0m ×2 + 23.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.804ms ×2 + 24.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 24.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285795 ms (missed cycles : 2). + 24.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285795 ms (missed cycles : 2).[0m ×2 + 24.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms + 25.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 25.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.119988 ms (missed cycles : 6). + 25.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.119988 ms (missed cycles : 6).[0m ×2 + 26.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 26.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306240 ms (missed cycles : 2). + 26.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306240 ms (missed cycles : 2).[0m ×2 + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 27.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418569 ms (missed cycles : 4). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418569 ms (missed cycles : 4).[0m ×2 + 27.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 28.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600874 ms (missed cycles : 3). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600874 ms (missed cycles : 3).[0m ×2 + 28.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.747ms + 29.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 29.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631331 ms (missed cycles : 3). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631331 ms (missed cycles : 3).[0m ×2 + 29.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 30.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.738ms + 30.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123399 ms (missed cycles : 4). + 30.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123399 ms (missed cycles : 4).[0m ×2 + 31.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.745ms ×2 + 31.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349318 ms (missed cycles : 2). + 31.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349318 ms (missed cycles : 2).[0m ×2 + 32.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 32.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977251 ms (missed cycles : 2). + 32.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977251 ms (missed cycles : 2).[0m ×2 + 33.58sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 33.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051316 ms (missed cycles : 3). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051316 ms (missed cycles : 3).[0m ×2 + 34.31sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 34.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147778 ms (missed cycles : 4). + 34.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147778 ms (missed cycles : 4).[0m ×2 + 35.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.018987 ms (missed cycles : 6). + 35.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.018987 ms (missed cycles : 6).[0m ×2 + 36.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 36.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.707ms + 37.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754697 ms (missed cycles : 4). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754697 ms (missed cycles : 4).[0m ×2 + 37.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.749ms + 37.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.710ms + 37.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms + 38.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672358 ms (missed cycles : 4). + 38.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672358 ms (missed cycles : 4).[0m ×2 + 38.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 39.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.575998 ms (missed cycles : 6). + 39.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.575998 ms (missed cycles : 6).[0m ×2 + 39.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 40.12sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713860 ms (missed cycles : 2). + 40.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713860 ms (missed cycles : 2).[0m ×2 + 41.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587334 ms (missed cycles : 4). + 41.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587334 ms (missed cycles : 4).[0m ×2 + 42.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857760 ms (missed cycles : 2). + 42.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857760 ms (missed cycles : 2).[0m ×2 + 42.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 43.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.428541 ms (missed cycles : 4). + 43.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.428541 ms (missed cycles : 4).[0m ×2 + 43.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 44.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 44.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655024 ms (missed cycles : 2). + 44.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655024 ms (missed cycles : 2).[0m ×2 + 45.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 45.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529228 ms (missed cycles : 4). + 45.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529228 ms (missed cycles : 4).[0m ×2 + 45.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 46.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834762 ms (missed cycles : 2). + 46.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834762 ms (missed cycles : 2).[0m ×2 + 46.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.679ms + 47.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684467 ms (missed cycles : 2). + 47.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684467 ms (missed cycles : 2).[0m ×2 + 47.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.754ms + 48.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946976 ms (missed cycles : 2). + 48.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946976 ms (missed cycles : 2).[0m ×2 + 48.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.697ms + 49.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076041 ms (missed cycles : 2). + 49.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076041 ms (missed cycles : 2).[0m ×2 + 49.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.787ms + 50.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.018333 ms (missed cycles : 7). + 50.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.018333 ms (missed cycles : 7).[0m ×2 + 50.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.748ms + 51.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677623 ms (missed cycles : 3). + 51.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677623 ms (missed cycles : 3).[0m ×2 + 52.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.252336 ms (missed cycles : 6). + 52.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.252336 ms (missed cycles : 6).[0m ×2 + 53.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 53.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418583 ms (missed cycles : 2). + 53.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418583 ms (missed cycles : 2).[0m ×2 + 54.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.807ms ×2 + 54.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998752 ms (missed cycles : 3). + 54.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998752 ms (missed cycles : 3).[0m ×2 + 56.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672978 ms (missed cycles : 2). + 56.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672978 ms (missed cycles : 2).[0m ×2 + 57.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918919 ms (missed cycles : 2). + 57.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918919 ms (missed cycles : 2).[0m ×2 + 57.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.678ms + 58.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588598 ms (missed cycles : 4). + 58.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588598 ms (missed cycles : 4).[0m ×2 + 58.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.674ms + 59.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844160 ms (missed cycles : 3). + 59.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844160 ms (missed cycles : 3).[0m ×2 + 59.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 59.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 60.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.588661 ms (missed cycles : 5). + 60.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.588661 ms (missed cycles : 5).[0m ×2 + 61.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196725 ms (missed cycles : 2). + 61.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196725 ms (missed cycles : 2).[0m ×2 + 62.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695417 ms (missed cycles : 2). + 62.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695417 ms (missed cycles : 2).[0m ×2 + 63.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191621 ms (missed cycles : 2). + 63.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191621 ms (missed cycles : 2).[0m ×2 + 64.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706216 ms (missed cycles : 2). + 64.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706216 ms (missed cycles : 2).[0m ×2 + 65.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209208 ms (missed cycles : 4). + 65.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209208 ms (missed cycles : 4).[0m ×2 + 66.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425202 ms (missed cycles : 3). + 66.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425202 ms (missed cycles : 3).[0m ×2 + 67.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137254 ms (missed cycles : 4). + 67.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137254 ms (missed cycles : 4).[0m ×2 + 68.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260518 ms (missed cycles : 3). + 68.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260518 ms (missed cycles : 3).[0m ×2 + 69.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819256 ms (missed cycles : 3). + 69.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819256 ms (missed cycles : 3).[0m ×2 + 70.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175412 ms (missed cycles : 2). + 70.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175412 ms (missed cycles : 2).[0m ×2 + 71.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887000 ms (missed cycles : 2). + 71.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887000 ms (missed cycles : 2).[0m ×2 + 72.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443939 ms (missed cycles : 4). + 72.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443939 ms (missed cycles : 4).[0m ×2 + 73.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001428 ms (missed cycles : 2). + 73.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001428 ms (missed cycles : 2).[0m ×2 + 74.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621192 ms (missed cycles : 3). + 74.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621192 ms (missed cycles : 3).[0m ×2 + 75.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870906 ms (missed cycles : 2). + 75.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870906 ms (missed cycles : 2).[0m ×2 + 77.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894887 ms (missed cycles : 2). + 77.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894887 ms (missed cycles : 2).[0m ×2 + 78.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492169 ms (missed cycles : 3). + 78.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492169 ms (missed cycles : 3).[0m ×2 + 79.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542383 ms (missed cycles : 4). + 79.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542383 ms (missed cycles : 4).[0m ×2 + 80.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458542 ms (missed cycles : 3). + 80.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458542 ms (missed cycles : 3).[0m ×2 + 81.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699935 ms (missed cycles : 4). + 81.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699935 ms (missed cycles : 4).[0m ×2 + 82.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730581 ms (missed cycles : 4). + 82.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730581 ms (missed cycles : 4).[0m ×2 + 83.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026252 ms (missed cycles : 3). + 83.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026252 ms (missed cycles : 3).[0m ×2 + 84.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729105 ms (missed cycles : 4). + 84.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729105 ms (missed cycles : 4).[0m ×2 + 85.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.317633 ms (missed cycles : 4). + 85.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.317633 ms (missed cycles : 4).[0m ×2 + 86.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.033438 ms (missed cycles : 5). + 86.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.033438 ms (missed cycles : 5).[0m ×2 + 87.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671106 ms (missed cycles : 2). + 87.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671106 ms (missed cycles : 2).[0m ×2 + 88.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068255 ms (missed cycles : 4). + 88.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068255 ms (missed cycles : 4).[0m ×2 + 89.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606682 ms (missed cycles : 5). + 89.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606682 ms (missed cycles : 5).[0m ×2 + 90.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236409 ms (missed cycles : 3). + 90.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236409 ms (missed cycles : 3).[0m ×2 + 91.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234083 ms (missed cycles : 2). + 91.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234083 ms (missed cycles : 2).[0m ×2 + 92.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919474 ms (missed cycles : 2). + 92.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919474 ms (missed cycles : 2).[0m ×2 + 93.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458741 ms (missed cycles : 3). + 93.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458741 ms (missed cycles : 3).[0m ×2 + 94.03sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 3.025ms + 94.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.257ms + 94.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.631ms + 94.45sINFOjoint_trajectory_controllerGot request to cancel goal + 94.45sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 94.45sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 94.45sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 94.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled: Objective execution was halted at time: 1783960497.15583968 seconds ×3 + 94.51sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1783960497.18249011 seconds. ×3 + 94.85sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 94.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008193 ms (missed cycles : 3). + 94.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008193 ms (missed cycles : 3).[0m ×2 + 95.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884152 ms (missed cycles : 4). + 95.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884152 ms (missed cycles : 4).[0m ×2 + 96.67sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 96.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036907 ms (missed cycles : 3). + 96.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036907 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 72.2s | 3 errors · 225 warnings · 215 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.981ms + 0.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.030ms + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437863 ms (missed cycles : 3). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437863 ms (missed cycles : 3).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.684ms + 1.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.460ms + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468834 ms (missed cycles : 4). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468834 ms (missed cycles : 4).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.264ms + 2.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.954ms + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821834 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821834 ms (missed cycles : 2).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 4942 particles 723 points - 4.724ms + 3.57sINFOjoint_trajectory_controllerGot request to cancel goal + 3.57sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.57sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.57sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1783960507.67836857 seconds ×3 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.62sINFOamclParticle filter update iteration stats: 4683 particles 723 points - 4.369ms + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.428ms + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.405ms + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752317 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752317 ms (missed cycles : 2).[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.995ms + 4.14sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1783960508.23628783 seconds. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.701ms + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.223ms + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400513 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400513 ms (missed cycles : 3).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.220ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.470ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.986ms + 5.60sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.64sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.64sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.64sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.64sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695566 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695566 ms (missed cycles : 3).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.875ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.467ms + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979885 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979885 ms (missed cycles : 3).[0m ×2 + 7.00sINFOamclParticle filter update iteration stats: 4890 particles 723 points - 4.260ms + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116298 ms (missed cycles : 4). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116298 ms (missed cycles : 4).[0m ×2 + 8.31sINFOamclParticle filter update iteration stats: 3679 particles 723 points - 5.002ms + 8.91sINFOamclParticle filter update iteration stats: 2972 particles 723 points - 4.826ms + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073675 ms (missed cycles : 2). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073675 ms (missed cycles : 2).[0m ×2 + 9.41sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 2.794ms + 9.91sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 2.208ms + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778911 ms (missed cycles : 2). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778911 ms (missed cycles : 2).[0m ×2 + 10.40sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.135ms + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123267 ms (missed cycles : 3). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123267 ms (missed cycles : 3).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.751ms + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010300 ms (missed cycles : 2). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010300 ms (missed cycles : 2).[0m ×2 + 12.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 12.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882141 ms (missed cycles : 2). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882141 ms (missed cycles : 2).[0m ×2 + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms ×2 + 13.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.715ms + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675733 ms (missed cycles : 2). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675733 ms (missed cycles : 2).[0m ×2 + 14.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.720ms + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822210 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822210 ms (missed cycles : 2).[0m ×2 + 15.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.650ms + 15.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.729ms + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822688 ms (missed cycles : 4). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822688 ms (missed cycles : 4).[0m ×2 + 16.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.680ms + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597175 ms (missed cycles : 2). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597175 ms (missed cycles : 2).[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 18.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815874 ms (missed cycles : 4). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815874 ms (missed cycles : 4).[0m ×2 + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.730ms + 19.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356468 ms (missed cycles : 5). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356468 ms (missed cycles : 5).[0m ×2 + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.129ms + 20.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079536 ms (missed cycles : 3). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079536 ms (missed cycles : 3).[0m ×2 + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.765ms ×2 + 21.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.737ms + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853542 ms (missed cycles : 2). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853542 ms (missed cycles : 2).[0m ×2 + 21.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms ×2 + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 22.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082717 ms (missed cycles : 2). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082717 ms (missed cycles : 2).[0m ×2 + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.725ms + 23.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.769ms + 23.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537492 ms (missed cycles : 2). + 23.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537492 ms (missed cycles : 2).[0m ×2 + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.748ms + 24.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 24.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396803 ms (missed cycles : 2). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396803 ms (missed cycles : 2).[0m ×2 + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.806ms + 25.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms ×2 + 25.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.946984 ms (missed cycles : 9). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.946984 ms (missed cycles : 9).[0m ×2 + 25.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.826ms + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms ×2 + 26.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504485 ms (missed cycles : 2). + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504485 ms (missed cycles : 2).[0m ×2 + 26.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.186ms + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.636ms + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014246 ms (missed cycles : 4). + 27.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014246 ms (missed cycles : 4).[0m ×2 + 28.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.714ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534353 ms (missed cycles : 3). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534353 ms (missed cycles : 3).[0m ×2 + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.687ms + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.766ms + 30.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627285 ms (missed cycles : 3). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627285 ms (missed cycles : 3).[0m ×2 + 30.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494829 ms (missed cycles : 3). + 31.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494829 ms (missed cycles : 3).[0m ×2 + 31.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 32.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586269 ms (missed cycles : 2). + 32.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586269 ms (missed cycles : 2).[0m ×2 + 32.93sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.93sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.14sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458258 ms (missed cycles : 5). + 33.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458258 ms (missed cycles : 5).[0m ×2 + 33.81sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674408 ms (missed cycles : 2). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674408 ms (missed cycles : 2).[0m ×2 + 35.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691445 ms (missed cycles : 2). + 35.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691445 ms (missed cycles : 2).[0m ×2 + 36.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 36.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368845 ms (missed cycles : 3). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368845 ms (missed cycles : 3).[0m ×2 + 36.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.673ms + 37.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.778ms + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728849 ms (missed cycles : 5). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728849 ms (missed cycles : 5).[0m ×2 + 37.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.724ms + 37.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 38.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.738ms + 38.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002865 ms (missed cycles : 2). + 38.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002865 ms (missed cycles : 2).[0m ×2 + 39.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.788ms + 39.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.839815 ms (missed cycles : 6). + 39.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.839815 ms (missed cycles : 6).[0m ×2 + 40.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670709 ms (missed cycles : 2). + 40.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670709 ms (missed cycles : 2).[0m ×2 + 41.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704655 ms (missed cycles : 2). + 41.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704655 ms (missed cycles : 2).[0m ×2 + 42.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 42.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130147 ms (missed cycles : 2). + 42.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130147 ms (missed cycles : 2).[0m ×2 + 43.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms ×2 + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087791 ms (missed cycles : 4). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087791 ms (missed cycles : 4).[0m ×2 + 44.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086023 ms (missed cycles : 3). + 44.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086023 ms (missed cycles : 3).[0m ×2 + 45.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696294 ms (missed cycles : 4). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696294 ms (missed cycles : 4).[0m ×2 + 46.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489055 ms (missed cycles : 3). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489055 ms (missed cycles : 3).[0m ×2 + 47.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.074ms + 48.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946538 ms (missed cycles : 2). + 48.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946538 ms (missed cycles : 2).[0m ×2 + 48.99sINFOobjective_server_nodePlanning for 39 path waypoints. ×3 + 49.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052579 ms (missed cycles : 3). + 49.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052579 ms (missed cycles : 3).[0m ×2 + 50.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124917 ms (missed cycles : 4). + 50.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124917 ms (missed cycles : 4).[0m ×2 + 50.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 51.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004499 ms (missed cycles : 5). + 51.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004499 ms (missed cycles : 5).[0m ×2 + 52.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860772 ms (missed cycles : 3). + 52.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860772 ms (missed cycles : 3).[0m ×2 + 53.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005294 ms (missed cycles : 2). + 53.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005294 ms (missed cycles : 2).[0m ×2 + 54.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786982 ms (missed cycles : 2). + 54.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786982 ms (missed cycles : 2).[0m ×2 + 54.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 55.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906873 ms (missed cycles : 2). + 55.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906873 ms (missed cycles : 2).[0m ×2 + 56.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672284 ms (missed cycles : 2). + 56.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672284 ms (missed cycles : 2).[0m ×2 + 57.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.666ms + 57.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352892 ms (missed cycles : 4). + 57.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352892 ms (missed cycles : 4).[0m ×2 + 58.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 58.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603636 ms (missed cycles : 2). + 58.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603636 ms (missed cycles : 2).[0m ×2 + 58.70sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 58.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.728ms + 59.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606689 ms (missed cycles : 2). + 59.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606689 ms (missed cycles : 2).[0m ×2 + 60.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 60.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.445148 ms (missed cycles : 4). + 60.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.445148 ms (missed cycles : 4).[0m ×2 + 61.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.659ms + 61.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055812 ms (missed cycles : 2). + 61.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055812 ms (missed cycles : 2).[0m ×2 + 62.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479914 ms (missed cycles : 3). + 62.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479914 ms (missed cycles : 3).[0m ×2 + 63.04sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 63.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041791 ms (missed cycles : 6). + 63.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041791 ms (missed cycles : 6).[0m ×2 + 64.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810396 ms (missed cycles : 3). + 64.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810396 ms (missed cycles : 3).[0m ×2 + 65.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092554 ms (missed cycles : 3). + 65.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092554 ms (missed cycles : 3).[0m ×2 + 66.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 67.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042731 ms (missed cycles : 3). + 67.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042731 ms (missed cycles : 3).[0m ×2 + 67.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.734ms + 68.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509771 ms (missed cycles : 2). + 68.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509771 ms (missed cycles : 2).[0m ×2 + 68.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 69.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065044 ms (missed cycles : 3). + 69.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065044 ms (missed cycles : 3).[0m ×2 + 69.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 70.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 70.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923265 ms (missed cycles : 4). + 70.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923265 ms (missed cycles : 4).[0m ×2 + 71.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 71.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192300 ms (missed cycles : 2). + 71.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192300 ms (missed cycles : 2).[0m ×2 + 72.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 72.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5). + 72.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5).[0m ×2 + 73.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 73.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2). + 73.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2).[0m ×2 + 74.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 74.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3). + 74.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3).[0m ×2 + 75.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2). + 75.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2).[0m ×2 + 75.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783960579.91645622 seconds ×3 + 76.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.937ms + 76.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.928ms + 76.38sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783960580.47974253 seconds. ×3 + 76.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.982ms + 76.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4). + 76.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4).[0m ×2 + 76.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.571ms + 77.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.087ms + 77.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 77.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3). + 77.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3).[0m ×2 + 77.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.746ms + 78.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.651ms + 78.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 78.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3). + 78.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3).[0m ×2 + 78.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.104ms + 78.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.205ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.3s | 180 warnings · 157 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783960310.71918035 seconds. ×3 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305273 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305273 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeFound path in 0 iterations (2.6101e-05 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.37sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.37sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.37sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.37sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729764 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729764 ms (missed cycles : 3).[0m ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109820 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109820 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.46sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.47sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783960313.65933323 seconds ×3 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321928 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321928 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1783960314.20996952 seconds. ×3 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902391 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902391 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838275 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838275 ms (missed cycles : 3).[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067029 ms (missed cycles : 5). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067029 ms (missed cycles : 5).[0m ×2 + 7.50sINFOamclParticle filter update iteration stats: 1650 particles 723 points - 1.842ms + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254798 ms (missed cycles : 4). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254798 ms (missed cycles : 4).[0m ×2 + 8.12sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 2.016ms + 8.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 9.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992955 ms (missed cycles : 2). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992955 ms (missed cycles : 2).[0m ×2 + 9.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 10.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.260ms + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136240 ms (missed cycles : 2). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136240 ms (missed cycles : 2).[0m ×2 + 10.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 11.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425356 ms (missed cycles : 2). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425356 ms (missed cycles : 2).[0m ×2 + 11.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 12.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927359 ms (missed cycles : 3). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927359 ms (missed cycles : 3).[0m ×2 + 12.61sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 13.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623527 ms (missed cycles : 5). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623527 ms (missed cycles : 5).[0m ×2 + 13.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 14.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms ×2 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149690 ms (missed cycles : 2). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149690 ms (missed cycles : 2).[0m ×2 + 14.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 15.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133039 ms (missed cycles : 5). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133039 ms (missed cycles : 5).[0m ×2 + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 16.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845331 ms (missed cycles : 2). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845331 ms (missed cycles : 2).[0m ×2 + 17.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060538 ms (missed cycles : 3). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060538 ms (missed cycles : 3).[0m ×2 + 17.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.748ms + 18.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 18.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953413 ms (missed cycles : 4). + 18.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953413 ms (missed cycles : 4).[0m ×2 + 18.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 19.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.809ms + 19.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853625 ms (missed cycles : 2). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853625 ms (missed cycles : 2).[0m ×2 + 19.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 20.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 20.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.482349 ms (missed cycles : 4). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.482349 ms (missed cycles : 4).[0m ×2 + 21.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms ×2 + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 21.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559323 ms (missed cycles : 2). + 21.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559323 ms (missed cycles : 2).[0m ×2 + 22.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642613 ms (missed cycles : 2). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642613 ms (missed cycles : 2).[0m ×2 + 23.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.778ms ×2 + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875460 ms (missed cycles : 3). + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875460 ms (missed cycles : 3).[0m ×2 + 24.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 24.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637526 ms (missed cycles : 2). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637526 ms (missed cycles : 2).[0m ×2 + 25.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 25.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 25.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810152 ms (missed cycles : 3). + 25.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810152 ms (missed cycles : 3).[0m ×2 + 26.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 26.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721437 ms (missed cycles : 2). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721437 ms (missed cycles : 2).[0m ×2 + 27.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006700 ms (missed cycles : 3). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006700 ms (missed cycles : 3).[0m ×2 + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 28.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 28.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812692 ms (missed cycles : 2). + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812692 ms (missed cycles : 2).[0m ×2 + 29.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 29.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 29.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745689 ms (missed cycles : 2). + 29.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745689 ms (missed cycles : 2).[0m ×2 + 30.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 30.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 31.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.302376 ms (missed cycles : 6). + 31.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.302376 ms (missed cycles : 6).[0m ×2 + 31.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.788ms + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950257 ms (missed cycles : 3). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950257 ms (missed cycles : 3).[0m ×2 + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.775ms + 33.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998670 ms (missed cycles : 3). + 33.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998670 ms (missed cycles : 3).[0m ×2 + 34.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047301 ms (missed cycles : 3). + 34.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047301 ms (missed cycles : 3).[0m ×2 + 34.25sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729228 ms (missed cycles : 5). + 35.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729228 ms (missed cycles : 5).[0m ×2 + 35.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263713 ms (missed cycles : 5). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263713 ms (missed cycles : 5).[0m ×2 + 37.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651187 ms (missed cycles : 2). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651187 ms (missed cycles : 2).[0m ×2 + 38.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931880 ms (missed cycles : 3). + 38.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931880 ms (missed cycles : 3).[0m ×2 + 39.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975484 ms (missed cycles : 3). + 39.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975484 ms (missed cycles : 3).[0m ×2 + 40.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 40.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562168 ms (missed cycles : 3). + 40.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562168 ms (missed cycles : 3).[0m ×2 + 41.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248474 ms (missed cycles : 2). + 41.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248474 ms (missed cycles : 2).[0m ×2 + 42.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 42.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829433 ms (missed cycles : 4). + 42.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829433 ms (missed cycles : 4).[0m ×2 + 43.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891868 ms (missed cycles : 2). + 43.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891868 ms (missed cycles : 2).[0m ×2 + 44.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.768ms + 44.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094155 ms (missed cycles : 2). + 44.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094155 ms (missed cycles : 2).[0m ×2 + 45.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059314 ms (missed cycles : 2). + 45.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059314 ms (missed cycles : 2).[0m ×2 + 46.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793760 ms (missed cycles : 2). + 46.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793760 ms (missed cycles : 2).[0m ×2 + 47.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047870 ms (missed cycles : 2). + 47.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047870 ms (missed cycles : 2).[0m ×2 + 48.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 48.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377697 ms (missed cycles : 3). + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377697 ms (missed cycles : 3).[0m ×2 + 49.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526185 ms (missed cycles : 3). + 49.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526185 ms (missed cycles : 3).[0m ×2 + 50.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.765ms + 50.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160192 ms (missed cycles : 4). + 50.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160192 ms (missed cycles : 4).[0m ×2 + 52.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945328 ms (missed cycles : 3). + 52.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945328 ms (missed cycles : 3).[0m ×2 + 53.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076121 ms (missed cycles : 3). + 53.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076121 ms (missed cycles : 3).[0m ×2 + 54.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310920 ms (missed cycles : 2). + 54.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310920 ms (missed cycles : 2).[0m ×2 + 55.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595234 ms (missed cycles : 4). + 55.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595234 ms (missed cycles : 4).[0m ×2 + 55.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.681ms + 56.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010336 ms (missed cycles : 2). + 56.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010336 ms (missed cycles : 2).[0m ×2 + 57.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051254 ms (missed cycles : 6). + 57.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051254 ms (missed cycles : 6).[0m ×2 + 58.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048773 ms (missed cycles : 4). + 58.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048773 ms (missed cycles : 4).[0m ×2 + 58.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 59.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060004 ms (missed cycles : 2). + 59.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060004 ms (missed cycles : 2).[0m ×2 + 59.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783960370.01010394 seconds ×3 + 59.92sINFOamclParticle filter update iteration stats: 3305 particles 723 points - 1.906ms + 60.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.692ms + 60.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.344ms + 60.38sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783960370.56416321 seconds. ×3 + 60.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.543ms + 60.69sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 60.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703023 ms (missed cycles : 3). + 60.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703023 ms (missed cycles : 3).[0m ×2 + 61.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846784 ms (missed cycles : 3). + 61.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846784 ms (missed cycles : 3).[0m ×2 + 62.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.054ms + 62.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280482 ms (missed cycles : 2). + 62.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280482 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.0s | 177 warnings · 142 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.49sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783960579.91645622 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.937ms + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.928ms + 4.07sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783960580.47974253 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.982ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.571ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.087ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.746ms + 5.68sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.68sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.651ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3).[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.104ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.205ms + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862018 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862018 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377657 ms (missed cycles : 4). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377657 ms (missed cycles : 4).[0m ×2 + 8.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.654ms + 9.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.396ms + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191726 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191726 ms (missed cycles : 2).[0m ×2 + 9.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.311ms + 10.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.300ms + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140187 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140187 ms (missed cycles : 3).[0m ×2 + 10.69sINFOamclParticle filter update iteration stats: 4549 particles 723 points - 5.218ms + 11.20sINFOamclParticle filter update iteration stats: 4311 particles 723 points - 4.308ms + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186479 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186479 ms (missed cycles : 3).[0m ×2 + 11.69sINFOamclParticle filter update iteration stats: 3835 particles 723 points - 3.881ms + 12.20sINFOamclParticle filter update iteration stats: 3471 particles 723 points - 5.041ms + 12.69sINFOamclParticle filter update iteration stats: 2774 particles 723 points - 2.937ms + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719477 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719477 ms (missed cycles : 2).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 2523 particles 723 points - 2.829ms + 13.70sINFOamclParticle filter update iteration stats: 2491 particles 723 points - 2.662ms + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544643 ms (missed cycles : 3). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544643 ms (missed cycles : 3).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 2366 particles 723 points - 2.346ms + 14.71sINFOamclParticle filter update iteration stats: 2376 particles 723 points - 2.117ms + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875182 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875182 ms (missed cycles : 2).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 2627 particles 723 points - 2.268ms + 15.70sINFOamclParticle filter update iteration stats: 2732 particles 723 points - 2.685ms + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142622 ms (missed cycles : 3). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142622 ms (missed cycles : 3).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 2721 particles 723 points - 3.570ms + 16.70sINFOamclParticle filter update iteration stats: 2648 particles 723 points - 2.501ms + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763067 ms (missed cycles : 3). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763067 ms (missed cycles : 3).[0m ×2 + 17.19sINFOamclParticle filter update iteration stats: 2586 particles 723 points - 2.315ms + 17.70sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.510ms + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218663 ms (missed cycles : 2). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218663 ms (missed cycles : 2).[0m ×2 + 18.19sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.039ms + 18.71sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 3.074ms + 19.20sINFOamclParticle filter update iteration stats: 1830 particles 723 points - 1.879ms + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052162 ms (missed cycles : 5). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052162 ms (missed cycles : 5).[0m ×2 + 19.69sINFOamclParticle filter update iteration stats: 1682 particles 723 points - 1.664ms + 20.20sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.702ms + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770863 ms (missed cycles : 2). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770863 ms (missed cycles : 2).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 1.318ms + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580710 ms (missed cycles : 4). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580710 ms (missed cycles : 4).[0m ×2 + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326160 ms (missed cycles : 5). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326160 ms (missed cycles : 5).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.047ms + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308423 ms (missed cycles : 2). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308423 ms (missed cycles : 2).[0m ×2 + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 24.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 24.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371376 ms (missed cycles : 2). + 24.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371376 ms (missed cycles : 2).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.806ms + 25.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866285 ms (missed cycles : 4). + 25.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866285 ms (missed cycles : 4).[0m ×2 + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992080 ms (missed cycles : 3). + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992080 ms (missed cycles : 3).[0m ×2 + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 27.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969541 ms (missed cycles : 2). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969541 ms (missed cycles : 2).[0m ×2 + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 28.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712239 ms (missed cycles : 2). + 28.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712239 ms (missed cycles : 2).[0m ×2 + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.729ms + 29.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278972 ms (missed cycles : 4). + 29.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278972 ms (missed cycles : 4).[0m ×2 + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.687ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 30.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.585742 ms (missed cycles : 7). + 30.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.585742 ms (missed cycles : 7).[0m ×2 + 31.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 31.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330004 ms (missed cycles : 2). + 31.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330004 ms (missed cycles : 2).[0m ×2 + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 32.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796765 ms (missed cycles : 2). + 32.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796765 ms (missed cycles : 2).[0m ×2 + 32.94sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.220838 ms (missed cycles : 6). + 33.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.220838 ms (missed cycles : 6).[0m ×2 + 34.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192811 ms (missed cycles : 2). + 34.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192811 ms (missed cycles : 2).[0m ×2 + 35.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959069 ms (missed cycles : 2). + 35.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959069 ms (missed cycles : 2).[0m ×2 + 36.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826470 ms (missed cycles : 4). + 36.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826470 ms (missed cycles : 4).[0m ×2 + 37.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514831 ms (missed cycles : 3). + 37.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514831 ms (missed cycles : 3).[0m ×2 + 39.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605367 ms (missed cycles : 2). + 39.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605367 ms (missed cycles : 2).[0m ×2 + 39.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 40.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585289 ms (missed cycles : 4). + 40.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585289 ms (missed cycles : 4).[0m ×2 + 41.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827325 ms (missed cycles : 2). + 41.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827325 ms (missed cycles : 2).[0m ×2 + 42.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171684 ms (missed cycles : 2). + 42.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171684 ms (missed cycles : 2).[0m ×2 + 43.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704386 ms (missed cycles : 3). + 43.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704386 ms (missed cycles : 3).[0m ×2 + 44.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409279 ms (missed cycles : 4). + 44.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409279 ms (missed cycles : 4).[0m ×2 + 45.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759417 ms (missed cycles : 2). + 45.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759417 ms (missed cycles : 2).[0m ×2 + 46.40sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732803 ms (missed cycles : 4). + 46.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732803 ms (missed cycles : 4).[0m ×2 + 47.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.653ms + 47.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147209 ms (missed cycles : 2). + 47.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147209 ms (missed cycles : 2).[0m ×2 + 48.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035788 ms (missed cycles : 2). + 48.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035788 ms (missed cycles : 2).[0m ×2 + 49.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 49.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.846468 ms (missed cycles : 6). + 49.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.846468 ms (missed cycles : 6).[0m ×2 + 50.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048688 ms (missed cycles : 2). + 50.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048688 ms (missed cycles : 2).[0m ×2 + 51.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066287 ms (missed cycles : 3). + 51.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066287 ms (missed cycles : 3).[0m ×2 + 52.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214146 ms (missed cycles : 2). + 52.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214146 ms (missed cycles : 2).[0m ×2 + 53.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863980 ms (missed cycles : 2). + 53.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863980 ms (missed cycles : 2).[0m ×2 + 54.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.664ms + 54.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588506 ms (missed cycles : 4). + 54.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588506 ms (missed cycles : 4).[0m ×2 + 55.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894302 ms (missed cycles : 4). + 55.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894302 ms (missed cycles : 4).[0m ×2 + 57.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951187 ms (missed cycles : 2). + 57.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951187 ms (missed cycles : 2).[0m ×2 + 57.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.246ms + 58.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993022 ms (missed cycles : 3). + 58.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993022 ms (missed cycles : 3).[0m ×2 + 58.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1783960634.94988871 seconds ×3 + 58.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.075ms + 58.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.754ms + 59.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686951 ms (missed cycles : 3). + 59.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686951 ms (missed cycles : 3).[0m ×2 + 59.10sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1783960635.50384879 seconds. ×3 + 59.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.183ms + 59.38sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 59.39sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968781 ms (missed cycles : 2). + 60.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968781 ms (missed cycles : 2).[0m ×2 + 61.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.380ms + 61.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.498585 ms (missed cycles : 4). + 61.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.498585 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.3s | 144 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.03sINFOmove_groupClearing octomap...[0m ×2 + 1.03sINFOmove_groupOctomap cleared.[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 2.88sINFOobjective_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 + 2.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.78sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.78sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.78sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.78sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218258 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218258 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007386 ms (missed cycles : 4). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007386 ms (missed cycles : 4).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395409 ms (missed cycles : 3). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395409 ms (missed cycles : 3).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812705 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812705 ms (missed cycles : 2).[0m ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167949 ms (missed cycles : 2). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167949 ms (missed cycles : 2).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850853 ms (missed cycles : 2). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850853 ms (missed cycles : 2).[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065796 ms (missed cycles : 3). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065796 ms (missed cycles : 3).[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149565 ms (missed cycles : 5). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149565 ms (missed cycles : 5).[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989872 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989872 ms (missed cycles : 2).[0m ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150482 ms (missed cycles : 3). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150482 ms (missed cycles : 3).[0m ×2 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291998 ms (missed cycles : 5). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291998 ms (missed cycles : 5).[0m ×2 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069720 ms (missed cycles : 4). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069720 ms (missed cycles : 4).[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827148 ms (missed cycles : 3). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827148 ms (missed cycles : 3).[0m ×2 + 19.26sINFOamclParticle filter update iteration stats: 1798 particles 723 points - 2.014ms + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797537 ms (missed cycles : 3). + 19.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797537 ms (missed cycles : 3).[0m ×2 + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290059 ms (missed cycles : 4). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290059 ms (missed cycles : 4).[0m ×2 + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477012 ms (missed cycles : 3). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477012 ms (missed cycles : 3).[0m ×2 + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309407 ms (missed cycles : 5). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309407 ms (missed cycles : 5).[0m ×2 + 23.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824349 ms (missed cycles : 2). + 23.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824349 ms (missed cycles : 2).[0m ×2 + 24.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649031 ms (missed cycles : 4). + 24.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649031 ms (missed cycles : 4).[0m ×2 + 26.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501598 ms (missed cycles : 3). + 26.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501598 ms (missed cycles : 3).[0m ×2 + 27.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576316 ms (missed cycles : 3). + 27.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576316 ms (missed cycles : 3).[0m ×2 + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979569 ms (missed cycles : 3). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979569 ms (missed cycles : 3).[0m ×2 + 29.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582362 ms (missed cycles : 2). + 29.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582362 ms (missed cycles : 2).[0m ×2 + 30.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789028 ms (missed cycles : 4). + 30.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789028 ms (missed cycles : 4).[0m ×2 + 31.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357814 ms (missed cycles : 3). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357814 ms (missed cycles : 3).[0m ×2 + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318515 ms (missed cycles : 3). + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318515 ms (missed cycles : 3).[0m ×2 + 33.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171157 ms (missed cycles : 2). + 33.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171157 ms (missed cycles : 2).[0m ×2 + 34.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106518 ms (missed cycles : 3). + 34.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106518 ms (missed cycles : 3).[0m ×2 + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.399946 ms (missed cycles : 5). + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.399946 ms (missed cycles : 5).[0m ×2 + 36.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190197 ms (missed cycles : 3). + 36.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190197 ms (missed cycles : 3).[0m ×2 + 37.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908789 ms (missed cycles : 4). + 37.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908789 ms (missed cycles : 4).[0m ×2 + 38.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140368 ms (missed cycles : 5). + 38.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140368 ms (missed cycles : 5).[0m ×2 + 39.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101123 ms (missed cycles : 3). + 39.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101123 ms (missed cycles : 3).[0m ×2 + 40.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038977 ms (missed cycles : 2). + 40.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038977 ms (missed cycles : 2).[0m ×2 + 41.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172535 ms (missed cycles : 2). + 41.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172535 ms (missed cycles : 2).[0m ×2 + 42.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426055 ms (missed cycles : 2). + 42.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426055 ms (missed cycles : 2).[0m ×2 + 43.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062626 ms (missed cycles : 4). + 43.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062626 ms (missed cycles : 4).[0m ×2 + 44.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039339 ms (missed cycles : 2). + 44.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039339 ms (missed cycles : 2).[0m ×2 + 45.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729942 ms (missed cycles : 3). + 45.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729942 ms (missed cycles : 3).[0m ×2 + 46.18sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 46.19sINFOros2_control_nodeGoal reached, success![0m ×4 + 46.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783960310.16988325 seconds ×3 + 46.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783960310.71918035 seconds. ×3 + 46.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305273 ms (missed cycles : 2). + 46.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305273 ms (missed cycles : 2).[0m ×2 + 47.59sINFOobjective_server_nodeFound path in 0 iterations (2.6101e-05 s). ×2 + 47.59sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 47.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 47.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729764 ms (missed cycles : 3). + 47.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729764 ms (missed cycles : 3).[0m ×2 + 49.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109820 ms (missed cycles : 3). + 49.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109820 ms (missed cycles : 3).[0m ×2 + 49.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783960313.65933323 seconds ×3 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.4s | 105 warnings · 121 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.054ms + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280482 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280482 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.088ms + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780964 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780964 ms (missed cycles : 2).[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.86sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.89sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1783960374.60431147 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541407 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541407 ms (missed cycles : 3).[0m ×2 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.44sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1783960376.15333056 seconds. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660972 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660972 ms (missed cycles : 4).[0m ×2 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206571 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206571 ms (missed cycles : 4).[0m ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 4.88sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.88sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.88sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081016 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081016 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353231 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353231 ms (missed cycles : 3).[0m ×2 + 6.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.513ms + 7.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.604ms + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329141 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329141 ms (missed cycles : 3).[0m ×2 + 7.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.060ms + 8.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.375ms + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569048 ms (missed cycles : 4). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569048 ms (missed cycles : 4).[0m ×2 + 8.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.608ms + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.789ms + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603293 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603293 ms (missed cycles : 2).[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.365ms + 10.09sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.539ms + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735969 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735969 ms (missed cycles : 3).[0m ×2 + 11.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.451ms + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.413ms + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052701 ms (missed cycles : 3). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052701 ms (missed cycles : 3).[0m ×2 + 11.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.233ms + 12.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.624ms + 12.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.080ms + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132682 ms (missed cycles : 3). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132682 ms (missed cycles : 3).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.891ms + 14.00sINFOamclParticle filter update iteration stats: 4477 particles 723 points - 4.403ms + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401176 ms (missed cycles : 2). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401176 ms (missed cycles : 2).[0m ×2 + 14.49sINFOamclParticle filter update iteration stats: 3866 particles 723 points - 4.157ms + 14.99sINFOamclParticle filter update iteration stats: 3357 particles 723 points - 3.569ms + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420160 ms (missed cycles : 5). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420160 ms (missed cycles : 5).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 2502 particles 723 points - 3.269ms + 15.97sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 2.133ms + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.564435 ms (missed cycles : 4). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.564435 ms (missed cycles : 4).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.049ms + 16.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644391 ms (missed cycles : 2). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644391 ms (missed cycles : 2).[0m ×2 + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms ×2 + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100283 ms (missed cycles : 4). + 18.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100283 ms (missed cycles : 4).[0m ×2 + 18.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms + 19.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 19.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.163542 ms (missed cycles : 5). + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.163542 ms (missed cycles : 5).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms ×2 + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.766ms + 20.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937417 ms (missed cycles : 3). + 20.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937417 ms (missed cycles : 3).[0m ×2 + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.735ms + 21.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275527 ms (missed cycles : 3). + 21.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275527 ms (missed cycles : 3).[0m ×2 + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.159ms + 22.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844596 ms (missed cycles : 2). + 22.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844596 ms (missed cycles : 2).[0m ×2 + 22.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms ×2 + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.815ms + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.757473 ms (missed cycles : 5). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.757473 ms (missed cycles : 5).[0m ×2 + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 24.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250629 ms (missed cycles : 2). + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250629 ms (missed cycles : 2).[0m ×2 + 24.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 25.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620785 ms (missed cycles : 2). + 25.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620785 ms (missed cycles : 2).[0m ×2 + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.685ms + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 26.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144131 ms (missed cycles : 7). + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144131 ms (missed cycles : 7).[0m ×2 + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 27.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.480586 ms (missed cycles : 7). + 27.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.480586 ms (missed cycles : 7).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.749ms + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.775ms + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.253798 ms (missed cycles : 7). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.253798 ms (missed cycles : 7).[0m ×2 + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958777 ms (missed cycles : 3). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958777 ms (missed cycles : 3).[0m ×2 + 29.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.783ms + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 31.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706785 ms (missed cycles : 2). + 31.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706785 ms (missed cycles : 2).[0m ×2 + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162896 ms (missed cycles : 4). + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162896 ms (missed cycles : 4).[0m ×2 + 32.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.743ms + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318422 ms (missed cycles : 2). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318422 ms (missed cycles : 2).[0m ×2 + 33.28sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783960405.99346972 seconds ×3 + 33.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.818ms + 33.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.127ms + 33.83sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783960406.54373622 seconds. ×3 + 34.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.217ms + 34.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709229 ms (missed cycles : 4). + 34.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709229 ms (missed cycles : 4).[0m ×2 + 34.12sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 34.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.913ms + 34.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.684ms + 35.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.062ms + 35.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 35.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973278 ms (missed cycles : 2). + 35.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973278 ms (missed cycles : 2).[0m ×2 + 35.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.677ms + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916837 ms (missed cycles : 2). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916837 ms (missed cycles : 2).[0m ×2 + 36.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.617ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.6s | 57 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588506 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588506 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894302 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894302 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951187 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951187 ms (missed cycles : 2).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.246ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993022 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993022 ms (missed cycles : 3).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.52sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1783960634.94988871 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.075ms + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.754ms + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686951 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686951 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1783960635.50384879 seconds. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.183ms + 4.41sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.44sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.44sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.44sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.44sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968781 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968781 ms (missed cycles : 2).[0m ×2 + 6.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.380ms + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.498585 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.498585 ms (missed cycles : 4).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005554 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005554 ms (missed cycles : 2).[0m ×2 + 7.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.030ms + 8.55sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (9.29e-07 s). ×2 + 8.63sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.66sINFOobjective_server_nodeFound path in 0 iterations (9.5e-07 s). ×2 + 8.70sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.73sINFOobjective_server_nodeFound path in 0 iterations (6.51e-07 s). ×2 + 8.86sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754134 ms (missed cycles : 4). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754134 ms (missed cycles : 4).[0m ×2 + 8.91sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 9.16sINFOobjective_server_nodeFound path in 69 iterations (0.0542384 s). ×2 + 9.32sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.37sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 9.65sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.69sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480927 ms (missed cycles : 3). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480927 ms (missed cycles : 3).[0m ×2 + 9.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.14sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926481 ms (missed cycles : 3). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926481 ms (missed cycles : 3).[0m ×2 + 11.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.174ms + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.808696 ms (missed cycles : 5). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.808696 ms (missed cycles : 5).[0m ×2 + 12.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.488ms + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338376 ms (missed cycles : 3). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338376 ms (missed cycles : 3).[0m ×2 + 13.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.758ms + 13.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.085ms + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268221 ms (missed cycles : 3). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268221 ms (missed cycles : 3).[0m ×2 + 14.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.612ms + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657075 ms (missed cycles : 2). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657075 ms (missed cycles : 2).[0m ×2 + 15.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.819ms + 16.13sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783960647.50520253 seconds ×3 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856041 ms (missed cycles : 3). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856041 ms (missed cycles : 3).[0m ×2 + 16.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.737ms + 16.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.427ms + 16.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783960648.08889270 seconds. ×3 + 16.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.71sINFOmove_groupClearing octomap...[0m ×2 + 16.71sINFOmove_groupOctomap cleared.[0m ×2 + 16.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.225ms + 17.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783960648.58904409 seconds ×3 + 17.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.728ms + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250575 ms (missed cycles : 3). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250575 ms (missed cycles : 3).[0m ×2 + 17.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.484ms + 17.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.943ms + 17.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783960649.13809037 seconds. ×3 + 18.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.137ms + 18.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783960649.53822088 seconds ×3 + 18.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.665ms + 18.39sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724416 ms (missed cycles : 4). + 18.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.595ms + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724416 ms (missed cycles : 4).[0m ×2 + 19.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.465ms + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339202 ms (missed cycles : 3). + 19.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339202 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.1s | 6 errors · 54 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236409 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236409 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234083 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234083 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919474 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919474 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458741 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458741 ms (missed cycles : 3).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 3.025ms + 3.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.257ms + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.631ms + 3.60sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.60sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.60sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.60sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled: Objective execution was halted at time: 1783960497.15583968 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1783960497.18249011 seconds. ×3 + 3.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008193 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008193 ms (missed cycles : 3).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884152 ms (missed cycles : 4). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884152 ms (missed cycles : 4).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.85sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.85sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036907 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036907 ms (missed cycles : 3).[0m ×2 + 7.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.212ms + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238253 ms (missed cycles : 4). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238253 ms (missed cycles : 4).[0m ×2 + 7.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.157ms + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.370838 ms (missed cycles : 5). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.370838 ms (missed cycles : 5).[0m ×2 + 8.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.819ms + 9.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.592ms + 9.27sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315119 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315119 ms (missed cycles : 2).[0m ×2 + 9.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.733ms + 10.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.704ms + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523948 ms (missed cycles : 3). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523948 ms (missed cycles : 3).[0m ×2 + 10.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.981ms + 11.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.030ms + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437863 ms (missed cycles : 3). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437863 ms (missed cycles : 3).[0m ×2 + 11.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.684ms + 12.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.460ms + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468834 ms (missed cycles : 4). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468834 ms (missed cycles : 4).[0m ×2 + 12.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.264ms + 13.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.954ms + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821834 ms (missed cycles : 2). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821834 ms (missed cycles : 2).[0m ×2 + 13.66sINFOamclParticle filter update iteration stats: 4942 particles 723 points - 4.724ms + 14.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1783960507.67836857 seconds ×3 + 14.19sINFOamclParticle filter update iteration stats: 4683 particles 723 points - 4.369ms + 14.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.428ms + 14.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.405ms + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752317 ms (missed cycles : 2). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752317 ms (missed cycles : 2).[0m ×2 + 14.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.995ms + 14.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1783960508.23628783 seconds. ×3 + 14.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.701ms + 15.00sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 15.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.223ms + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400513 ms (missed cycles : 3). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400513 ms (missed cycles : 3).[0m ×2 + 15.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.220ms + 15.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.470ms + 16.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.986ms + 16.17sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695566 ms (missed cycles : 3). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695566 ms (missed cycles : 3).[0m ×2 + 16.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.875ms + 17.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.467ms + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979885 ms (missed cycles : 3). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979885 ms (missed cycles : 3).[0m ×2 + 17.57sINFOamclParticle filter update iteration stats: 4890 particles 723 points - 4.260ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.6s | 67 errors · 30 warnings · 370 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.085ms + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268221 ms (missed cycles : 3). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268221 ms (missed cycles : 3).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.612ms + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657075 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657075 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.819ms + 2.37sINFOjoint_trajectory_controllerGoal reached, success! + 2.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783960647.50520253 seconds ×3 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856041 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856041 ms (missed cycles : 3).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.737ms + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.427ms + 2.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783960648.08889270 seconds. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.225ms + 3.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783960648.58904409 seconds ×3 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.728ms + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250575 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250575 ms (missed cycles : 3).[0m ×2 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.484ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.943ms + 4.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783960649.13809037 seconds. ×3 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.137ms + 4.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783960649.53822088 seconds ×3 + 4.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.665ms + 4.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724416 ms (missed cycles : 4). + 4.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.595ms + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724416 ms (missed cycles : 4).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.465ms + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339202 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339202 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044207 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044207 ms (missed cycles : 3).[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345046 ms (missed cycles : 2). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345046 ms (missed cycles : 2).[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025474 ms (missed cycles : 2). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025474 ms (missed cycles : 2).[0m ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158260 ms (missed cycles : 3). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158260 ms (missed cycles : 3).[0m ×2 + 10.15sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 10.22sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.23sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.23sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.23sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 10.25sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 10.26sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 10.28sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 10.29sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.31sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 10.33sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 10.35sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 10.36sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 10.38sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 10.40sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 10.42sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 10.44sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 10.44sINFOcontroller_managerShutdown request received.... + 10.44sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.44sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.44sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.44sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.44sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.45sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.45sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.45sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.45sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.45sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.45sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.45sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.45sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.45sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.45sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.45sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.45sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.45sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.45sINFOcontroller_managerShutting down the controller manager. + 10.46sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.48sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 10.49sINFOweb_video_server-31process has finished cleanly [pid 10475] ×2 + 10.49sINFOtf2_web_republisher_node-30process has finished cleanly [pid 10474] ×2 + 10.50sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 10.50sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.52sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.53sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.55sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.55sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.55sINFOcontroller_serverCleaning up + 10.55sINFOlocal_costmap.local_costmapCleaning up + 10.55sERRORui_teleop_bridge-28process has died [pid 10470, 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_rj0553pn']. ×2 + 10.55sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.55sINFOcomponent_container_mt-26process has finished cleanly [pid 10466] ×2 + 10.55sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.55sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.55sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.55sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.55sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.55sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 10.55sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.55sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.55sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.55sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.55sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.55sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.55sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.55sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.55sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.56sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.56sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.56sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.56sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.56sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.56sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.56sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.56sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.56sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.56sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.56sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.56sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.56sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.56sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.56sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.56sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.56sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.56sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.56sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.56sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.56sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.56sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.56sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.56sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.56sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.56sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.56sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.56sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.56sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.56sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.56sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.56sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.56sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.56sINFOmove_groupDeleting MoveItCpp[0m ×2 + 10.56sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.56sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.56sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 10.57sINFOmove_groupStopping world geometry monitor[0m ×2 + 10.57sINFOmove_groupStopping planning scene monitor[0m ×2 + 10.57sINFOobjective_server_node[2026-07-13 16:37:35.612] [moveit_pro_license] [info] ×2 + 10.57sINFOobjective_server_node************************************************* ×4 + 10.57sINFOobjective_server_node* MoveIt Pro License ×2 + 10.57sINFOobjective_server_node* Application has successfully terminated ×2 + 10.57sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.57sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.57sINFOodom_qos_relay.pymain() ×2 + 10.57sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.57sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.57sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.57sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.57sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.57sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.57sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.57sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.57sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.57sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.57sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.57sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.57sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.57sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.57sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.57sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.57sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.57sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.57sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56512a3626a4, in _start ×2 + 10.57sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fea3647a28a, in __libc_start_main ×2 + 10.57sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fea3647a1d0, in ×2 + 10.57sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fea36497bbd, in exit ×2 + 10.57sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fea36497a75, in ×2 + 10.57sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fea369668f5, in spdlog::details::registry::~registry() ×2 + 10.57sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56512a362d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.57sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56512a369315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.57sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56512a3685a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.57sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56512a364b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.57sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56512a362d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.57sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fea3701c454, in rclcpp::Node::~Node() ×2 + 10.57sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fea36fd7515, in ×2 + 10.57sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fea3701ad20, in ×2 + 10.57sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fea3701ac63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.57sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fea36fd75d9, in ×2 + 10.57sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fea36fdc161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.57sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fe9ee7ecb60]) ×2 + 10.57sINFOexecute_objective_bridge-27process has finished cleanly [pid 10469] ×2 + 10.58sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.59sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.59sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.59sINFOmap_serverDeactivating + 10.59sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.60sINFOmap_serverCleaning up + 10.60sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.60sINFOsmoother_serverCleaning up + 10.61sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.61sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.61sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.61sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.61sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.62sERRORobjective_server_node_main-24process has died [pid 10464, 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_fkox_8mk --params-file /tmp/launch_params_usfzohdy --params-file /tmp/launch_params_7_mefn0a --params-file /tmp/launch_params_g02ka1jd --params-file /tmp/launch_params_wmjlnvhu --params-file /tmp/launch_params_l22lv68m --params-file /tmp/launch_params_c11pfscb --params-file /tmp/launch_params_6sxhppgt --params-file /tmp/launch_params_5cy7asno']. ×2 + 10.62sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 10.63sERRORamclThe bond connection to the lifecycle manager has been broken + 10.64sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.64sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.64sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.64sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.64sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.64sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.64sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.64sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.64sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.66sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.66sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 11.08sERRORcomponent_container_isolated-1process has died [pid 10318, 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_1w34qo20 --params-file /tmp/launch_params_gpzjbyj1 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.39sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 10447] ×2 + 11.41sINFOmove_joint_resampler_node-22process has finished cleanly [pid 10405] ×2 + 11.47sINFOparameter_manager_node-20process has finished cleanly [pid 10403] ×2 + 11.48sINFOwaypoint_manager_node-21process has finished cleanly [pid 10404] ×2 + 11.50sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10323] ×2 + 11.52sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 10322] ×2 + 11.53sINFOcomponent_container_mt-25process has finished cleanly [pid 10465] ×2 + 11.55sINFOstatic_transform_publisher-3process has finished cleanly [pid 10320] ×2 + 11.56sINFOmove_group-19process has finished cleanly [pid 10402] ×2 + 11.57sINFOstatic_transform_publisher-2process has finished cleanly [pid 10319] ×2 + 11.60sERRORodom_qos_relay.py-4process has died [pid 10321, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.21sINFOros2_control_node-7process has finished cleanly [pid 10324] ×2 + 13.03sINFOweb_bridge-29process has finished cleanly [pid 10473] ×2 + 13.03sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 | ||||
| ✓ 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 2.010336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010336 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051254 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051254 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048773 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048773 ms (missed cycles : 4).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060004 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060004 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.38sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.39sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783960370.01010394 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.49sINFOamclParticle filter update iteration stats: 3305 particles 723 points - 1.906ms + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.692ms + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.344ms + 3.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783960370.56416321 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.543ms + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.28sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.28sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703023 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703023 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846784 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846784 ms (missed cycles : 3).[0m ×2 + 6.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.054ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280482 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280482 ms (missed cycles : 2).[0m ×2 + 7.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.088ms + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780964 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780964 ms (missed cycles : 2).[0m ×2 + 7.98sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1783960374.60431147 seconds ×3 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541407 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541407 ms (missed cycles : 3).[0m ×2 + 9.53sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1783960376.15333056 seconds. ×3 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660972 ms (missed cycles : 4). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660972 ms (missed cycles : 4).[0m ×2 + 9.84sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206571 ms (missed cycles : 4). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206571 ms (missed cycles : 4).[0m ×2 + 10.93sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081016 ms (missed cycles : 5). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081016 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.5s | 27 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062626 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062626 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039339 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039339 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729942 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729942 ms (missed cycles : 3).[0m ×2 + 2.53sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.53sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783960310.16988325 seconds ×3 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783960310.71918035 seconds. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305273 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305273 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.6101e-05 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.96sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729764 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729764 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109820 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109820 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783960313.65933323 seconds ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321928 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321928 ms (missed cycles : 3).[0m ×2 + 6.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1783960314.20996952 seconds. ×3 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902391 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902391 ms (missed cycles : 3).[0m ×2 + 8.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838275 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838275 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 24 warnings · 47 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.488ms + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338376 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338376 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.758ms + 1.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.085ms + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268221 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268221 ms (missed cycles : 3).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.612ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657075 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657075 ms (missed cycles : 2).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.819ms + 3.48sINFOjoint_trajectory_controllerGoal reached, success! + 3.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783960647.50520253 seconds ×3 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856041 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856041 ms (missed cycles : 3).[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.737ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.427ms + 4.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783960648.08889270 seconds. ×3 + 4.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.09sINFOmove_groupClearing octomap...[0m ×2 + 4.09sINFOmove_groupOctomap cleared.[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.225ms + 4.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783960648.58904409 seconds ×3 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.728ms + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250575 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250575 ms (missed cycles : 3).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.484ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.943ms + 5.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783960649.13809037 seconds. ×3 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.137ms + 5.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783960649.53822088 seconds ×3 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.665ms + 5.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724416 ms (missed cycles : 4). + 5.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.595ms + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724416 ms (missed cycles : 4).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.465ms + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339202 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339202 ms (missed cycles : 3).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044207 ms (missed cycles : 3). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044207 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.03sINFOmove_groupClearing octomap...[0m ×2 + 1.03sINFOmove_groupOctomap cleared.[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 2.88sINFOobjective_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 + 2.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.78sINFOjoint_trajectory_controllerReceived new action goal + 4.78sINFOjoint_trajectory_controllerAccepted new action goal + 4.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218258 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218258 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 50 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783960310.71918035 seconds. ×3 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305273 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305273 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeFound path in 0 iterations (2.6101e-05 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.37sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.37sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729764 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729764 ms (missed cycles : 3).[0m ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109820 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109820 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.47sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783960313.65933323 seconds ×3 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321928 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321928 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1783960314.20996952 seconds. ×3 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902391 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902391 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838275 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838275 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 - 0.913ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783960579.91645622 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.937ms + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.928ms + 4.07sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783960580.47974253 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.982ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.571ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.087ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.746ms + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.651ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3).[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.104ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.205ms | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4).[0m ×2 + 0.92sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.09sINFOmove_groupClearing octomap...[0m ×2 + 3.09sINFOmove_groupOctomap cleared.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 6.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 47 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.488ms + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338376 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338376 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.758ms + 1.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.085ms + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268221 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268221 ms (missed cycles : 3).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.612ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657075 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657075 ms (missed cycles : 2).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.819ms + 3.48sINFOjoint_trajectory_controllerGoal reached, success! + 3.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783960647.50520253 seconds ×3 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856041 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856041 ms (missed cycles : 3).[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.737ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.427ms + 4.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783960648.08889270 seconds. ×3 + 4.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.09sINFOmove_groupClearing octomap...[0m ×2 + 4.09sINFOmove_groupOctomap cleared.[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.225ms + 4.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783960648.58904409 seconds ×3 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.728ms + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250575 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250575 ms (missed cycles : 3).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.484ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.943ms + 5.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783960649.13809037 seconds. ×3 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.137ms + 5.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783960649.53822088 seconds ×3 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.665ms + 5.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724416 ms (missed cycles : 4). + 5.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.595ms + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724416 ms (missed cycles : 4).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.465ms + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339202 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339202 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062626 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062626 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039339 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039339 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729942 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729942 ms (missed cycles : 3).[0m ×2 + 2.53sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.53sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783960310.16988325 seconds ×3 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783960310.71918035 seconds. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305273 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305273 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.6101e-05 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOjoint_trajectory_controllerReceived new action goal + 3.96sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729764 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729764 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109820 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109820 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783960313.65933323 seconds ×3 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062626 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062626 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039339 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039339 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729942 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729942 ms (missed cycles : 3).[0m ×2 + 2.53sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.53sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783960310.16988325 seconds ×3 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783960310.71918035 seconds. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305273 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305273 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.6101e-05 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOjoint_trajectory_controllerReceived new action goal + 3.96sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729764 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729764 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109820 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109820 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783960313.65933323 seconds ×3 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4).[0m ×2 + 0.92sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.09sINFOmove_groupClearing octomap...[0m ×2 + 3.09sINFOmove_groupOctomap cleared.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 6.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010336 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051254 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051254 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048773 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048773 ms (missed cycles : 4).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060004 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060004 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783960370.01010394 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 3305 particles 723 points - 1.906ms + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.692ms + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.344ms + 3.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783960370.56416321 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.543ms + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal + 4.28sINFOjoint_trajectory_controllerAccepted new action goal + 4.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703023 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703023 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846784 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846784 ms (missed cycles : 3).[0m ×2 + 6.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.054ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280482 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280482 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010336 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051254 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051254 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048773 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048773 ms (missed cycles : 4).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060004 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060004 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783960370.01010394 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 3305 particles 723 points - 1.906ms + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.692ms + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.344ms + 3.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783960370.56416321 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.543ms + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal + 4.28sINFOjoint_trajectory_controllerAccepted new action goal + 4.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703023 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703023 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846784 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846784 ms (missed cycles : 3).[0m ×2 + 6.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.054ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280482 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280482 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010336 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051254 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051254 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048773 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048773 ms (missed cycles : 4).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060004 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060004 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783960370.01010394 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 3305 particles 723 points - 1.906ms + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.692ms + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.344ms + 3.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783960370.56416321 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.543ms + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal + 4.28sINFOjoint_trajectory_controllerAccepted new action goal + 4.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703023 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703023 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846784 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846784 ms (missed cycles : 3).[0m ×2 + 6.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.054ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280482 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280482 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010336 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051254 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051254 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048773 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048773 ms (missed cycles : 4).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060004 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060004 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783960370.01010394 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 3305 particles 723 points - 1.906ms + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.692ms + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.344ms + 3.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783960370.56416321 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.543ms + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal + 4.28sINFOjoint_trajectory_controllerAccepted new action goal + 4.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703023 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703023 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846784 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846784 ms (missed cycles : 3).[0m ×2 + 6.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.054ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280482 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280482 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010336 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051254 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051254 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048773 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048773 ms (missed cycles : 4).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060004 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060004 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783960370.01010394 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 3305 particles 723 points - 1.906ms + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.692ms + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.344ms + 3.94sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783960370.56416321 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.543ms + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal + 4.28sINFOjoint_trajectory_controllerAccepted new action goal + 4.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703023 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703023 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846784 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846784 ms (missed cycles : 3).[0m ×2 + 6.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.054ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280482 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280482 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958777 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958777 ms (missed cycles : 3).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.783ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706785 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706785 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162896 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162896 ms (missed cycles : 4).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.743ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318422 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318422 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783960405.99346972 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.818ms + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.127ms + 3.87sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783960406.54373622 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.217ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709229 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709229 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.913ms + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.684ms + 5.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.062ms + 5.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973278 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973278 ms (missed cycles : 2).[0m ×2 + 5.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.677ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916837 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916837 ms (missed cycles : 2).[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.617ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958777 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958777 ms (missed cycles : 3).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.783ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706785 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706785 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162896 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162896 ms (missed cycles : 4).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.743ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318422 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318422 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783960405.99346972 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.818ms + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.127ms + 3.87sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783960406.54373622 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.217ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709229 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709229 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.913ms + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.684ms + 5.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.062ms + 5.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973278 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973278 ms (missed cycles : 2).[0m ×2 + 5.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.677ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916837 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916837 ms (missed cycles : 2).[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.617ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958777 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958777 ms (missed cycles : 3).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.783ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706785 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706785 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162896 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162896 ms (missed cycles : 4).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.743ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318422 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318422 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783960405.99346972 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.818ms + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.127ms + 3.87sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783960406.54373622 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.217ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709229 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709229 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.913ms + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.684ms + 5.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.062ms + 5.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973278 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973278 ms (missed cycles : 2).[0m ×2 + 5.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.677ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916837 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916837 ms (missed cycles : 2).[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.617ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4).[0m ×2 + 0.92sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.09sINFOmove_groupClearing octomap...[0m ×2 + 3.09sINFOmove_groupOctomap cleared.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 6.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − 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 - 0.913ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783960579.91645622 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.937ms + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.928ms + 4.07sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783960580.47974253 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.982ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.571ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.087ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.746ms + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.651ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3).[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.104ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.205ms | ||||
| − 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 - 0.913ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783960579.91645622 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.937ms + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.928ms + 4.07sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783960580.47974253 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.982ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.571ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.087ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.746ms + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.651ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3).[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.104ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.205ms | ||||
| − 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 - 0.913ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783960579.91645622 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.937ms + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.928ms + 4.07sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783960580.47974253 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.982ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.571ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.087ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.746ms + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.651ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3).[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.104ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.205ms | ||||
| − 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 - 0.913ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783960579.91645622 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.937ms + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.928ms + 4.07sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783960580.47974253 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.982ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.571ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.087ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.746ms + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.651ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3).[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.104ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.205ms | ||||
| − 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 - 0.913ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783960579.91645622 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.937ms + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.928ms + 4.07sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783960580.47974253 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.982ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.571ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.087ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.746ms + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.651ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3).[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.104ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.205ms | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783960579.91645622 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.937ms + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.928ms + 4.07sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783960580.47974253 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.982ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.571ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.087ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.746ms + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.651ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3).[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.104ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.205ms | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878137 ms (missed cycles : 5).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767131 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316279 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030179 ms (missed cycles : 2).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783960579.91645622 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.937ms + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.928ms + 4.07sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783960580.47974253 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.982ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884365 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.571ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.087ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157210 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.746ms + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.651ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165828 ms (missed cycles : 3).[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.104ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.205ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 25.6s | 59 errors · 784 warnings · 1897 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/2026-07-13-16-23-36-124835-aab512b669d8-9215 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 8.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×3 + 9.02sINFOros2_control_node-7process started with pid [9271] + 9.02sINFOmove_group-19process started with pid [9349] + 9.02sINFOparameter_manager_node-20process started with pid [9350] + 9.02sINFOwaypoint_manager_node-21process started with pid [9351] + 9.02sINFOmove_joint_resampler_node-22process started with pid [9352] + 9.02sINFOmove_end_effector_resampler_node-23process started with pid [9410] + 9.02sINFOobjective_server_node_main-24process started with pid [9411] + 9.02sINFOcomponent_container_mt-25process started with pid [9413] + 9.02sINFOcomponent_container_mt-26process started with pid [9417] + 9.02sINFOexecute_objective_bridge-27process started with pid [9418] + 9.02sINFOui_teleop_bridge-28process started with pid [9420] + 9.03sINFOweb_bridge-29process started with pid [9421] + 9.03sINFOtf2_web_republisher_node-30process started with pid [9422] + 9.03sINFOweb_video_server-31process started with pid [9425] + 9.04sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 9.04sINFOcomponent_container_isolated-1process started with pid [9265] + 9.04sINFOstatic_transform_publisher-2process started with pid [9266] + 9.04sINFOstatic_transform_publisher-3process started with pid [9267] + 9.04sINFOodom_qos_relay.py-4process started with pid [9268] + 9.04sINFOscan_to_scan_filter_chain-5process started with pid [9269] + 9.04sINFOscan_to_scan_filter_chain-6process started with pid [9270] + 9.04sINFOros2-8process started with pid [9272] + 9.04sINFOros2-9process started with pid [9339] + 9.04sINFOros2-10process started with pid [9340] + 9.04sINFOros2-11process started with pid [9341] + 9.04sINFOros2-12process started with pid [9342] + 9.04sINFOros2-13process started with pid [9343] + 9.04sINFOros2-14process started with pid [9344] + 9.04sINFOros2-15process started with pid [9345] + 9.04sINFOros2-16process started with pid [9346] + 9.04sINFOros2-17process started with pid [9347] + 9.04sINFOros2-18process started with pid [9348] + 9.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 9.12sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 9.12sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 9.12sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 9.12sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 9.12sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 9.12sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 9.12sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 9.12sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 9.12sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 9.12sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 9.12sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 9.12sWARNros2_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 ×3 + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.410187 ms (missed cycles : 4).[0m + 9.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 9.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 9.19sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 9.20sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 9.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 9.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 9.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 9.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 9.30sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 9.31sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 9.31sINFOcomponent_container_mtRobot initialized[0m ×3 + 9.34sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 9.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 9.37sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 9.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 9.41sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 9.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 9.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 9.46sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 9.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 9.60sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 9.60sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 9.60sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 9.60sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 9.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 9.61sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 9.61sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 9.61sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 9.61sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×3 + 9.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 9.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 9.72sINFOmove_groupLoaded robot model in 0.503227 seconds[0m + 9.73sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 9.74sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 9.77sWARNscan_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 ×6 + 9.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 9.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 10.09sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 10.09sWARNmove_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 ×3 + 10.09sWARNmove_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 ×3 + 10.09sWARNmove_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 ×3 + 10.09sWARNmove_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 ×3 + 10.09sWARNmove_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 ×3 + 10.09sWARNmove_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 ×3 + 10.10sWARNmove_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 ×3 + 10.10sWARNmove_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 ×3 + 10.11sWARNmove_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 ×3 + 10.11sWARNmove_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 ×3 + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478079 ms (missed cycles : 3).[0m + 10.61sINFOwaypoint_manager_nodeLoaded robot model in 0.544168 seconds[0m + 10.61sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 10.61sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 10.64sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 10.65sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 10.65sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 10.65sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 10.65sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 10.65sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 10.66sINFOmove_groupStarting planning scene monitor[0m ×3 + 10.67sINFOmove_groupListening to '/planning_scene'[0m ×3 + 10.67sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 10.67sINFOmove_groupListening to 'collision_object'[0m ×3 + 10.67sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 10.69sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×18 + 10.92sWARNwaypoint_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 ×3 + 10.92sWARNwaypoint_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 ×3 + 10.92sWARNwaypoint_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 ×3 + 10.92sWARNwaypoint_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 ×3 + 10.92sWARNwaypoint_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 ×3 + 10.92sWARNwaypoint_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 ×3 + 10.93sWARNwaypoint_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 ×3 + 10.93sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 10.93sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 10.93sWARNwaypoint_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 ×3 + 10.93sWARNwaypoint_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 ×3 + 10.93sWARNwaypoint_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 ×3 + 10.94sWARNwaypoint_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 ×3 + 10.94sWARNwaypoint_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 ×3 + 10.94sWARNwaypoint_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 ×3 + 10.95sWARNwaypoint_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 ×3 + 10.95sWARNwaypoint_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 ×3 + 10.95sWARNwaypoint_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 ×3 + 10.95sWARNwaypoint_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 ×3 + 10.95sWARNwaypoint_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 ×3 + 10.96sWARNwaypoint_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 ×3 + 10.96sWARNwaypoint_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 ×3 + 10.96sWARNwaypoint_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 ×3 + 10.96sWARNwaypoint_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 ×3 + 10.96sWARNwaypoint_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 ×3 + 10.97sWARNwaypoint_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 ×3 + 10.97sWARNwaypoint_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 ×3 + 10.97sWARNwaypoint_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 ×3 + 10.97sWARNwaypoint_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 ×3 + 10.97sWARNwaypoint_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 ×3 + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102104 ms (missed cycles : 4).[0m + 11.40sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 11.40sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 11.40sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 11.58sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 11.58sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 11.58sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 11.58sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 11.58sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 11.58sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 11.58sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 11.58sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 11.58sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 11.58sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 11.58sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 11.58sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 11.58sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 11.58sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 11.58sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 11.58sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 11.58sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 11.58sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 11.58sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 11.58sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 11.60sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 11.64sINFOobjective_server_node[2026-07-13 16:23:50.238] [moveit_pro_license] [info] + 11.64sINFOobjective_server_node************************************************* ×8 + 11.64sINFOobjective_server_node* MoveIt Pro License ×4 + 11.64sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 11.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 11.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 11.70sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ddlhturx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p06l3jpa --params-file /tmp/launch_params_05z8kotj [0m + 11.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 11.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 11.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 11.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 11.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 11.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 11.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 11.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 11.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 11.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 11.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 11.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 11.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 11.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 11.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 11.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 11.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 11.71sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 11.72sINFOobjective_server_nodeLoaded robot model in 0.0263939 seconds[0m + 11.72sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 11.72sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 11.73sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 11.73sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 11.73sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 11.74sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 11.74sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 11.74sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 11.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 11.74sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 11.74sINFOcomponent_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 ×3 + 11.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 11.74sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 11.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 11.75sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 11.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 11.90sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 11.92sINFOcomponent_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 ×3 + 11.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 12.04sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 12.04sWARNobjective_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 ×3 + 12.04sWARNobjective_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 ×3 + 12.04sWARNobjective_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 ×3 + 12.04sWARNobjective_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 ×3 + 12.04sWARNobjective_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 ×3 + 12.04sWARNobjective_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 ×3 + 12.04sWARNobjective_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 ×3 + 12.04sWARNobjective_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 ×3 + 12.04sWARNobjective_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 ×3 + 12.04sWARNobjective_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 ×3 + 12.09sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 12.09sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 12.09sINFOros2-12process has finished cleanly [pid 9342] + 12.12sINFOobjective_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. ×3 + 12.12sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 12.14sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 12.14sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 12.14sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 12.14sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 12.14sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 12.14sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 12.14sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 12.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 12.16sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 12.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 12.18sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 12.22sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ddlhturx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p06l3jpa --params-file /tmp/launch_params_05z8kotj [0m + 12.27sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 12.27sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 12.28sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 12.28sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 12.29sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 12.29sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 12.32sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 12.32sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 12.32sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 12.32sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 12.32sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 12.32sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 12.32sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 12.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 12.40sINFOmove_group ×12 + 12.40sINFOmove_group******************************************************** ×6 + 12.40sINFOmove_group* MoveGroup using: ×3 + 12.40sINFOmove_group* - apply_planning_scene_service ×3 + 12.40sINFOmove_group* - clear_octomap_service ×3 + 12.40sINFOmove_group* - get_group_urdf ×3 + 12.40sINFOmove_group* - load_geometry_from_file ×3 + 12.40sINFOmove_group* - get_planning_scene_service ×3 + 12.40sINFOmove_group* - kinematics_service ×3 + 12.40sINFOmove_group* - save_geometry_to_file ×3 + 12.40sINFOmove_group* - GetPlanningGroups ×3 + 12.40sINFOmove_group* - URDFPlanningSceneCapability ×3 + 12.40sINFOmove_group[0m ×3 + 12.40sINFOmove_group[92mYou can start planning now![0m ×3 + 12.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 12.41sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 12.42sWARNcomponent_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 ×3 + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025538 ms (missed cycles : 2).[0m + 12.52sINFOros2_control_node[2026-07-13 16:23:51.115] [info] Controller state will be published at 20 Hz. + 12.52sINFOros2_control_node[2026-07-13 16:23:51.116] [info] JointVelocityController 'on_configure' succeeded. + 12.64sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 12.82sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 12.82sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 12.83sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ddlhturx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p06l3jpa --params-file /tmp/launch_params_05z8kotj [0m + 12.87sINFOros2-18process has finished cleanly [pid 9348] + 12.87sINFOcomponent_container_mtLoaded robot model in 0.451871 seconds[0m + 12.87sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 12.87sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 12.89sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 12.89sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 12.90sINFOros2_control_nodeconfigure successful[0m ×9 + 12.90sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 12.91sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 13.15sWARNcomponent_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 ×3 + 13.15sWARNcomponent_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 ×3 + 13.15sWARNcomponent_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 ×3 + 13.15sWARNcomponent_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 ×3 + 13.15sWARNcomponent_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 ×3 + 13.15sWARNcomponent_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 ×3 + 13.15sWARNcomponent_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 ×3 + 13.15sWARNcomponent_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 ×3 + 13.15sWARNcomponent_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 ×3 + 13.15sWARNcomponent_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 ×3 + 13.15sWARNcomponent_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 ×3 + 13.16sWARNcomponent_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 ×3 + 13.16sWARNcomponent_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 ×3 + 13.16sWARNcomponent_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 ×3 + 13.16sWARNcomponent_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 ×3 + 13.16sWARNcomponent_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 ×3 + 13.16sWARNcomponent_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 ×3 + 13.16sWARNcomponent_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 ×3 + 13.16sWARNcomponent_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 ×3 + 13.16sWARNcomponent_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 ×3 + 13.17sWARNcomponent_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 ×3 + 13.17sWARNcomponent_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 ×3 + 13.17sWARNcomponent_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 ×3 + 13.17sWARNcomponent_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 ×3 + 13.17sWARNcomponent_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 ×3 + 13.17sWARNcomponent_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 ×3 + 13.17sWARNcomponent_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 ×3 + 13.17sWARNcomponent_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 ×3 + 13.22sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 13.22sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 13.24sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ddlhturx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p06l3jpa --params-file /tmp/launch_params_05z8kotj [0m + 13.27sINFOros2-11process has finished cleanly [pid 9341] + 13.29sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 13.31sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 13.31sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 13.31sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 13.31sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 13.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 13.32sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713500 ms (missed cycles : 3).[0m + 13.50sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 13.50sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 13.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 13.52sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 13.65sINFOros2-10process has finished cleanly [pid 9340] + 13.66sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 13.66sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 13.66sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ddlhturx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p06l3jpa --params-file /tmp/launch_params_05z8kotj [0m + 13.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 13.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 13.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 13.72sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 13.73sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 13.77sWARNobjective_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/. ×3 + 13.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 14.22sINFOros2_control_node[2026-07-13 16:23:52.821] [info] Controller state will be published at 20 Hz. + 14.22sINFOros2_control_node[2026-07-13 16:23:52.822] [info] JointVelocityController 'on_configure' succeeded. + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650456 ms (missed cycles : 3).[0m + 14.56sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 14.56sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 14.56sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ddlhturx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p06l3jpa --params-file /tmp/launch_params_05z8kotj [0m + 14.58sINFOros2-17process has finished cleanly [pid 9347] + 14.66sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 14.66sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 14.66sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 14.66sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 14.66sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 14.67sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 14.67sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 14.67sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 15.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 15.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 15.04sINFOros2-14process has finished cleanly [pid 9344] + 15.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ddlhturx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p06l3jpa --params-file /tmp/launch_params_05z8kotj [0m + 15.14sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 15.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 15.42sINFOros2_control_node[2026-07-13 16:23:54.016] [warning] No force/torque sensor configured. The VFC will ignore force references. + 15.42sINFOros2_control_node[2026-07-13 16:23:54.019] [info] Controller state will be published at 10 Hz. + 15.42sINFOros2_control_node[2026-07-13 16:23:54.020] [info] VelocityForceController 'on_configure' succeeded. + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467934 ms (missed cycles : 4).[0m + 15.75sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 15.75sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 15.75sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ddlhturx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p06l3jpa --params-file /tmp/launch_params_05z8kotj [0m + 15.78sINFOros2-15process has finished cleanly [pid 9345] + 15.80sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 15.81sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 16.24sINFOros2-13process has finished cleanly [pid 9343] + 16.50sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 16.50sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 16.50sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ddlhturx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p06l3jpa --params-file /tmp/launch_params_05z8kotj [0m + 16.52sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 16.53sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 16.54sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 16.54sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493261 ms (missed cycles : 4).[0m + 16.88sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 16.88sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 16.88sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ddlhturx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p06l3jpa --params-file /tmp/launch_params_05z8kotj [0m + 16.90sINFOros2-8process has finished cleanly [pid 9272] + 16.94sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 16.94sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 16.95sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 16.96sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 17.28sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 17.28sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 17.28sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ddlhturx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p06l3jpa --params-file /tmp/launch_params_05z8kotj [0m + 17.28sINFOros2-9process has finished cleanly [pid 9339] + 17.34sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 17.35sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 17.62sINFOros2_control_node[2026-07-13 16:23:56.221] [warning] No force/torque sensor configured. The VFC will ignore force references. + 17.62sINFOros2_control_node[2026-07-13 16:23:56.223] [info] Controller state will be published at 10 Hz. + 17.62sINFOros2_control_node[2026-07-13 16:23:56.223] [info] VelocityForceController 'on_configure' succeeded. + 17.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 17.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681469 ms (missed cycles : 2).[0m + 17.96sINFOros2-16process has finished cleanly [pid 9346] + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755599 ms (missed cycles : 2).[0m + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700666 ms (missed cycles : 2).[0m + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131176 ms (missed cycles : 2).[0m + 21.61sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207223 ms (missed cycles : 2).[0m + 22.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783959841.40169144 seconds. + 22.80sINFOmove_groupClearing octomap...[0m ×4 + 22.80sINFOmove_groupOctomap cleared.[0m ×4 + 22.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783959841.41188669 seconds + 22.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674637 ms (missed cycles : 3).[0m + 23.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783959841.96503234 seconds. + 23.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783959841.97516274 seconds + 23.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783959842.51070094 seconds. + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808524 ms (missed cycles : 3).[0m + 24.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783959842.66129708 seconds + 24.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783959843.23511553 seconds. + 24.65sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 24.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 24.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 24.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 24.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 24.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 24.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 24.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 24.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783959843.29525375 seconds + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157315 ms (missed cycles : 2).[0m + 25.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783959843.85341930 seconds. + 25.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 25.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 25.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 25.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880750 ms (missed cycles : 2).[0m + 26.30sINFOobjective_server_nodePlanning for 177 path waypoints. + 26.54sINFOros2_control_nodeReceived new action goal[0m ×17 + 26.54sINFOros2_control_nodeAccepted new action goal[0m ×17 + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848455 ms (missed cycles : 3).[0m + 28.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849007 ms (missed cycles : 2).[0m + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183859 ms (missed cycles : 4).[0m + 30.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822989 ms (missed cycles : 2).[0m + 31.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138444 ms (missed cycles : 2).[0m + 32.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746676 ms (missed cycles : 3).[0m + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721738 ms (missed cycles : 2).[0m + 34.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772363 ms (missed cycles : 2).[0m + 35.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872767 ms (missed cycles : 3).[0m + 36.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233383 ms (missed cycles : 2).[0m + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466877 ms (missed cycles : 2).[0m + 38.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938572 ms (missed cycles : 2).[0m + 39.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282408 ms (missed cycles : 4).[0m + 40.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450363 ms (missed cycles : 3).[0m + 41.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821472 ms (missed cycles : 3).[0m + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503892 ms (missed cycles : 2).[0m + 43.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.880223 ms (missed cycles : 4).[0m + 44.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189289 ms (missed cycles : 2).[0m + 45.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312248 ms (missed cycles : 3).[0m + 46.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402187 ms (missed cycles : 4).[0m + 47.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450212 ms (missed cycles : 2).[0m + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872306 ms (missed cycles : 4).[0m + 49.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208210 ms (missed cycles : 4).[0m + 50.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459698 ms (missed cycles : 3).[0m + 51.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161386 ms (missed cycles : 3).[0m + 52.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500423 ms (missed cycles : 2).[0m + 54.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795571 ms (missed cycles : 3).[0m + 55.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995376 ms (missed cycles : 3).[0m + 56.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784321 ms (missed cycles : 2).[0m + 57.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643261 ms (missed cycles : 4).[0m + 58.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872861 ms (missed cycles : 3).[0m + 59.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413972 ms (missed cycles : 3).[0m + 60.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030138 ms (missed cycles : 5).[0m + 61.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939758 ms (missed cycles : 2).[0m + 62.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.681513 ms (missed cycles : 5).[0m + 63.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834643 ms (missed cycles : 2).[0m + 64.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900734 ms (missed cycles : 3).[0m + 65.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014486 ms (missed cycles : 3).[0m + 66.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946807 ms (missed cycles : 2).[0m + 67.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767748 ms (missed cycles : 3).[0m + 68.20sINFOros2_control_nodeGoal reached, success![0m ×15 + 68.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783959886.85007381 seconds + 68.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840971 ms (missed cycles : 3).[0m + 68.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783959887.40480566 seconds. + 69.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384835 ms (missed cycles : 2).[0m + 69.59sINFOobjective_server_nodeFound path in 0 iterations (5.1632e-05 s). + 69.59sINFOobjective_server_nodePath shortcutter: [X____X] + 69.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 70.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335396 ms (missed cycles : 2).[0m + 71.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.365047 ms (missed cycles : 4).[0m + 71.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783959890.32494211 seconds + 72.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1783959890.86698985 seconds. + 72.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727146 ms (missed cycles : 5).[0m + 72.56sINFOobjective_server_nodeFound path in 0 iterations (9.4e-07 s). + 73.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.201981 ms (missed cycles : 5).[0m + 73.73sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 74.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585085 ms (missed cycles : 4).[0m + 75.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502087 ms (missed cycles : 4).[0m + 76.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074022 ms (missed cycles : 2).[0m + 77.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303244 ms (missed cycles : 2).[0m + 78.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815352 ms (missed cycles : 3).[0m + 80.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430191 ms (missed cycles : 4).[0m + 81.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772531 ms (missed cycles : 3).[0m + 81.61sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m + 82.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793237 ms (missed cycles : 3).[0m + 83.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306500 ms (missed cycles : 2).[0m + 84.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238182 ms (missed cycles : 3).[0m + 85.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208780 ms (missed cycles : 2).[0m + 86.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047486 ms (missed cycles : 3).[0m + 87.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480767 ms (missed cycles : 4).[0m + 88.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650445 ms (missed cycles : 3).[0m + 89.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074836 ms (missed cycles : 2).[0m + 90.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720442 ms (missed cycles : 3).[0m + 91.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970386 ms (missed cycles : 2).[0m + 92.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036617 ms (missed cycles : 6).[0m + 93.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705118 ms (missed cycles : 3).[0m + 94.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.733345 ms (missed cycles : 5).[0m + 95.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.165050 ms (missed cycles : 5).[0m + 96.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921845 ms (missed cycles : 2).[0m + 97.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297613 ms (missed cycles : 2).[0m + 98.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781746 ms (missed cycles : 2).[0m +100.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159333 ms (missed cycles : 2).[0m +101.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057260 ms (missed cycles : 2).[0m +102.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143151 ms (missed cycles : 2).[0m +102.78sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +103.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985619 ms (missed cycles : 2).[0m +104.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470229 ms (missed cycles : 3).[0m +105.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635840 ms (missed cycles : 3).[0m +106.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742284 ms (missed cycles : 3).[0m +107.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673031 ms (missed cycles : 3).[0m +108.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634548 ms (missed cycles : 3).[0m +109.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544646 ms (missed cycles : 2).[0m +110.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133947 ms (missed cycles : 5).[0m +111.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542302 ms (missed cycles : 2).[0m +112.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483951 ms (missed cycles : 4).[0m +114.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075959 ms (missed cycles : 4).[0m +115.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.808825 ms (missed cycles : 5).[0m +116.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199667 ms (missed cycles : 4).[0m +117.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327285 ms (missed cycles : 2).[0m +118.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485381 ms (missed cycles : 4).[0m +119.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945041 ms (missed cycles : 3).[0m +120.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299670 ms (missed cycles : 2).[0m +121.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316429 ms (missed cycles : 2).[0m +122.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264798 ms (missed cycles : 2).[0m +123.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828440 ms (missed cycles : 4).[0m +124.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229482 ms (missed cycles : 5).[0m +125.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493163 ms (missed cycles : 3).[0m +126.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016962 ms (missed cycles : 4).[0m +127.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829375 ms (missed cycles : 2).[0m +128.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918043 ms (missed cycles : 2).[0m +128.43sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783959947.02714849 seconds +128.99sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783959947.59025717 seconds. +129.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). +129.31sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +129.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.954665 ms (missed cycles : 4).[0m +130.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652565 ms (missed cycles : 3).[0m +131.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329495 ms (missed cycles : 4).[0m +132.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943216 ms (missed cycles : 3).[0m +132.97sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1783959951.57191777 seconds +133.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870051 ms (missed cycles : 2).[0m +134.52sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1783959953.11660862 seconds. +134.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425875 ms (missed cycles : 3).[0m +134.80sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×3 +135.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326243 ms (missed cycles : 2).[0m +135.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +136.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256620 ms (missed cycles : 2).[0m +137.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855701 ms (missed cycles : 4).[0m +138.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736855 ms (missed cycles : 2).[0m +139.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244289 ms (missed cycles : 2).[0m +140.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868066 ms (missed cycles : 2).[0m +141.62sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m +141.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966553 ms (missed cycles : 3).[0m +142.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648345 ms (missed cycles : 4).[0m +144.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608075 ms (missed cycles : 4).[0m +145.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786124 ms (missed cycles : 2).[0m +146.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943796 ms (missed cycles : 2).[0m +147.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386681 ms (missed cycles : 3).[0m +148.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442557 ms (missed cycles : 4).[0m +149.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344012 ms (missed cycles : 2).[0m +150.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014304 ms (missed cycles : 2).[0m +151.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.242866 ms (missed cycles : 5).[0m +152.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387288 ms (missed cycles : 4).[0m +153.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283201 ms (missed cycles : 4).[0m +154.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340932 ms (missed cycles : 3).[0m +155.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112338 ms (missed cycles : 4).[0m +156.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898675 ms (missed cycles : 3).[0m +157.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110121 ms (missed cycles : 5).[0m +158.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319109 ms (missed cycles : 2).[0m +159.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852064 ms (missed cycles : 2).[0m +160.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440825 ms (missed cycles : 2).[0m +161.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425844 ms (missed cycles : 3).[0m +162.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981729 ms (missed cycles : 2).[0m +163.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254174 ms (missed cycles : 4).[0m +164.53sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783959983.12674427 seconds +164.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129801 ms (missed cycles : 3).[0m +165.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783959983.67869687 seconds. +165.36sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). +165.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404855 ms (missed cycles : 3).[0m +166.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +166.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250435 ms (missed cycles : 5).[0m +168.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896412 ms (missed cycles : 5).[0m +169.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137961 ms (missed cycles : 4).[0m +170.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829485 ms (missed cycles : 3).[0m +171.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979288 ms (missed cycles : 5).[0m +172.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278810 ms (missed cycles : 2).[0m +173.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694264 ms (missed cycles : 2).[0m +174.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.506084 ms (missed cycles : 4).[0m +175.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172019 ms (missed cycles : 2).[0m +176.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921238 ms (missed cycles : 2).[0m +177.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572581 ms (missed cycles : 2).[0m +178.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014604 ms (missed cycles : 4).[0m +179.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758409 ms (missed cycles : 5).[0m +180.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507157 ms (missed cycles : 2).[0m +181.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.588902 ms (missed cycles : 6).[0m +182.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837284 ms (missed cycles : 3).[0m +183.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798085 ms (missed cycles : 2).[0m +184.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693034 ms (missed cycles : 3).[0m +185.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236260 ms (missed cycles : 2).[0m +186.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840326 ms (missed cycles : 2).[0m +187.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359500 ms (missed cycles : 3).[0m +188.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030204 ms (missed cycles : 2).[0m +189.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587608 ms (missed cycles : 4).[0m +190.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940651 ms (missed cycles : 2).[0m +191.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597454 ms (missed cycles : 2).[0m +192.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158402 ms (missed cycles : 2).[0m +193.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800924 ms (missed cycles : 2).[0m +194.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367276 ms (missed cycles : 2).[0m +195.71sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +195.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343400 ms (missed cycles : 3).[0m +196.38sINFOobjective_server_nodePlanning for 54 path waypoints. +196.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168316 ms (missed cycles : 2).[0m +197.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913196 ms (missed cycles : 3).[0m +198.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522575 ms (missed cycles : 2).[0m +199.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705371 ms (missed cycles : 2).[0m +200.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711661 ms (missed cycles : 2).[0m +201.63sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m +202.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503781 ms (missed cycles : 4).[0m +203.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015071 ms (missed cycles : 2).[0m +204.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633930 ms (missed cycles : 4).[0m +205.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.247964 ms (missed cycles : 7).[0m +206.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630655 ms (missed cycles : 3).[0m +207.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668838 ms (missed cycles : 3).[0m +208.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868277 ms (missed cycles : 4).[0m +209.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932767 ms (missed cycles : 2).[0m +210.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753088 ms (missed cycles : 2).[0m +211.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594598 ms (missed cycles : 3).[0m +212.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724047 ms (missed cycles : 5).[0m +213.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955085 ms (missed cycles : 2).[0m +214.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865939 ms (missed cycles : 2).[0m +215.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.847210 ms (missed cycles : 6).[0m +216.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.777201 ms (missed cycles : 8).[0m +217.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849755 ms (missed cycles : 2).[0m +218.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983667 ms (missed cycles : 2).[0m +219.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771831 ms (missed cycles : 2).[0m +220.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544593 ms (missed cycles : 4).[0m +221.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521303 ms (missed cycles : 4).[0m +222.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722322 ms (missed cycles : 2).[0m +223.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253991 ms (missed cycles : 3).[0m +224.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067592 ms (missed cycles : 2).[0m +225.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924941 ms (missed cycles : 3).[0m +226.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926212 ms (missed cycles : 2).[0m +227.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017069 ms (missed cycles : 2).[0m +229.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249827 ms (missed cycles : 2).[0m +230.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710069 ms (missed cycles : 2).[0m +231.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510018 ms (missed cycles : 3).[0m +232.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703090 ms (missed cycles : 4).[0m +233.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399556 ms (missed cycles : 4).[0m +234.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776760 ms (missed cycles : 4).[0m +235.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684423 ms (missed cycles : 2).[0m +236.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.984702 ms (missed cycles : 5).[0m +237.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321207 ms (missed cycles : 4).[0m +238.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877733 ms (missed cycles : 3).[0m +239.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498246 ms (missed cycles : 4).[0m +240.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477671 ms (missed cycles : 3).[0m +241.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.917092 ms (missed cycles : 5).[0m +242.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687698 ms (missed cycles : 5).[0m +243.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453369 ms (missed cycles : 4).[0m +244.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702581 ms (missed cycles : 4).[0m +245.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700544 ms (missed cycles : 2).[0m +246.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717373 ms (missed cycles : 2).[0m +247.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110457 ms (missed cycles : 4).[0m +248.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765481 ms (missed cycles : 3).[0m +249.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.429755 ms (missed cycles : 5).[0m +250.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286186 ms (missed cycles : 2).[0m +251.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.818803 ms (missed cycles : 5).[0m +252.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369553 ms (missed cycles : 4).[0m +253.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283258 ms (missed cycles : 4).[0m +254.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395511 ms (missed cycles : 2).[0m +255.66sINFOros2_control_nodeGot request to cancel goal[0m ×2 +255.66sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 +255.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled: Objective execution was halted at time: 1783960074.31427026 seconds +255.74sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1783960074.34291101 seconds. +255.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125444 ms (missed cycles : 3).[0m +256.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.314229 ms (missed cycles : 5).[0m +257.82sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________________________________________________________________X] +258.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334999 ms (missed cycles : 2).[0m +259.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007040 ms (missed cycles : 3).[0m +260.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.424630 ms (missed cycles : 6).[0m +261.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415375 ms (missed cycles : 5).[0m +261.63sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m +262.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.928436 ms (missed cycles : 5).[0m +263.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876045 ms (missed cycles : 2).[0m +264.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.446631 ms (missed cycles : 6).[0m +265.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643258 ms (missed cycles : 3).[0m +266.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1783960084.75666261 seconds +266.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679968 ms (missed cycles : 2).[0m +266.70sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1783960085.30242348 seconds. +267.08sINFOobjective_server_nodeFound path in 0 iterations (1.1e-06 s). +267.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298251 ms (missed cycles : 2).[0m +268.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829397 ms (missed cycles : 3).[0m +268.45sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 +269.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366733 ms (missed cycles : 3).[0m +270.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193771 ms (missed cycles : 5).[0m +271.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259629 ms (missed cycles : 2).[0m +272.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283343 ms (missed cycles : 2).[0m +273.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510607 ms (missed cycles : 4).[0m +274.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102836 ms (missed cycles : 5).[0m +275.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604857 ms (missed cycles : 3).[0m +276.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218566 ms (missed cycles : 2).[0m +277.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254885 ms (missed cycles : 2).[0m +278.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312127 ms (missed cycles : 5).[0m +279.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.747498 ms (missed cycles : 5).[0m +280.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938255 ms (missed cycles : 2).[0m +281.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945076 ms (missed cycles : 3).[0m +283.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780852 ms (missed cycles : 3).[0m +284.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897200 ms (missed cycles : 2).[0m +285.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858005 ms (missed cycles : 3).[0m +286.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269401 ms (missed cycles : 2).[0m +287.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366412 ms (missed cycles : 3).[0m +288.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394963 ms (missed cycles : 3).[0m +289.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285411 ms (missed cycles : 2).[0m +290.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757407 ms (missed cycles : 2).[0m +291.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061711 ms (missed cycles : 5).[0m +292.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306550 ms (missed cycles : 2).[0m +293.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181745 ms (missed cycles : 2).[0m +294.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.347621 ms (missed cycles : 7).[0m +295.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220125 ms (missed cycles : 2).[0m +296.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588056 ms (missed cycles : 2).[0m +296.86sINFOobjective_server_nodePlanning for 37 path waypoints. +297.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279945 ms (missed cycles : 2).[0m +298.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922502 ms (missed cycles : 3).[0m +299.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420636 ms (missed cycles : 2).[0m +300.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905573 ms (missed cycles : 2).[0m +301.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242094 ms (missed cycles : 2).[0m +302.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.505280 ms (missed cycles : 6).[0m +303.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.269780 ms (missed cycles : 6).[0m +305.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461698 ms (missed cycles : 4).[0m +306.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281050 ms (missed cycles : 4).[0m +307.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258083 ms (missed cycles : 4).[0m +308.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986416 ms (missed cycles : 2).[0m +309.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257885 ms (missed cycles : 2).[0m +310.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689637 ms (missed cycles : 2).[0m +311.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.378986 ms (missed cycles : 7).[0m +312.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.884953 ms (missed cycles : 6).[0m +313.25sINFOobjective_server_nodePlanning for 39 path waypoints. +313.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.456029 ms (missed cycles : 4).[0m +314.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861085 ms (missed cycles : 2).[0m +315.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925812 ms (missed cycles : 2).[0m +316.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840278 ms (missed cycles : 5).[0m +317.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560461 ms (missed cycles : 3).[0m +318.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.528637 ms (missed cycles : 4).[0m +319.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699893 ms (missed cycles : 2).[0m +320.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343849 ms (missed cycles : 3).[0m +321.64sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m +321.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.408492 ms (missed cycles : 6).[0m +322.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949612 ms (missed cycles : 2).[0m +323.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689471 ms (missed cycles : 2).[0m +324.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724297 ms (missed cycles : 2).[0m +325.76sINFOobjective_server_nodePlanning for 32 path waypoints. +325.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920813 ms (missed cycles : 3).[0m +326.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869384 ms (missed cycles : 6).[0m +327.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281282 ms (missed cycles : 2).[0m +328.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365712 ms (missed cycles : 3).[0m +329.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437278 ms (missed cycles : 2).[0m +331.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673576 ms (missed cycles : 2).[0m +332.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679881 ms (missed cycles : 3).[0m +333.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325657 ms (missed cycles : 2).[0m +334.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083657 ms (missed cycles : 5).[0m +335.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218395 ms (missed cycles : 2).[0m +336.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056916 ms (missed cycles : 2).[0m +337.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780895 ms (missed cycles : 6).[0m +338.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783960156.61257792 seconds +338.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284229 ms (missed cycles : 2).[0m +338.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783960157.17337704 seconds. +338.92sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 +339.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409823 ms (missed cycles : 3).[0m +340.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014131 ms (missed cycles : 4).[0m +341.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546962 ms (missed cycles : 5).[0m +342.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827665 ms (missed cycles : 2).[0m +343.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872685 ms (missed cycles : 3).[0m +344.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.500935 ms (missed cycles : 4).[0m +345.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293366 ms (missed cycles : 4).[0m +347.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970801 ms (missed cycles : 2).[0m +348.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773119 ms (missed cycles : 5).[0m +349.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997864 ms (missed cycles : 2).[0m +350.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063206 ms (missed cycles : 2).[0m +351.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633181 ms (missed cycles : 4).[0m +352.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537970 ms (missed cycles : 2).[0m +353.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745420 ms (missed cycles : 2).[0m +354.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726624 ms (missed cycles : 2).[0m +355.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743057 ms (missed cycles : 3).[0m +356.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042411 ms (missed cycles : 2).[0m +357.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975091 ms (missed cycles : 4).[0m +358.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181513 ms (missed cycles : 2).[0m +359.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072434 ms (missed cycles : 2).[0m +360.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723817 ms (missed cycles : 2).[0m +361.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063344 ms (missed cycles : 2).[0m +362.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290375 ms (missed cycles : 3).[0m +363.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.579349 ms (missed cycles : 5).[0m +364.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185112 ms (missed cycles : 2).[0m +365.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317683 ms (missed cycles : 3).[0m +366.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599670 ms (missed cycles : 4).[0m +367.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136658 ms (missed cycles : 2).[0m +368.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284485 ms (missed cycles : 5).[0m +370.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878295 ms (missed cycles : 3).[0m +371.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.995154 ms (missed cycles : 6).[0m +372.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.843123 ms (missed cycles : 5).[0m +373.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971906 ms (missed cycles : 5).[0m +374.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622560 ms (missed cycles : 4).[0m +375.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852502 ms (missed cycles : 2).[0m +376.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648420 ms (missed cycles : 4).[0m +377.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913927 ms (missed cycles : 3).[0m +378.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.108474 ms (missed cycles : 7).[0m +379.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498725 ms (missed cycles : 4).[0m +380.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.586051 ms (missed cycles : 4).[0m +381.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216114 ms (missed cycles : 2).[0m +381.64sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m +382.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.153458 ms (missed cycles : 5).[0m +383.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247995 ms (missed cycles : 4).[0m +384.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325720 ms (missed cycles : 2).[0m +385.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523290 ms (missed cycles : 3).[0m +386.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373713 ms (missed cycles : 5).[0m +387.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.864188 ms (missed cycles : 6).[0m +388.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907494 ms (missed cycles : 3).[0m +389.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695319 ms (missed cycles : 2).[0m +391.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507116 ms (missed cycles : 6).[0m +392.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255074 ms (missed cycles : 4).[0m +392.85sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1783960211.45352650 seconds +393.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815309 ms (missed cycles : 2).[0m +393.41sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1783960212.00506067 seconds. +393.69sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). +394.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631750 ms (missed cycles : 4).[0m +395.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886772 ms (missed cycles : 3).[0m +396.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594382 ms (missed cycles : 4).[0m +397.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473350 ms (missed cycles : 3).[0m +397.70sINFOobjective_server_nodePath shortcutter: [X__________________X] +397.72sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). +397.75sINFOobjective_server_nodePath shortcutter: [X____________________X] +397.78sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 +397.82sINFOobjective_server_nodePath shortcutter: [X_________________________X] +397.85sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). +397.96sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +398.17sINFOobjective_server_nodeFound path in 29 iterations (0.0260826 s). +398.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416108 ms (missed cycles : 3).[0m +398.34sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X______X] +398.68sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +398.72sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). +398.98sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +399.17sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +399.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165016 ms (missed cycles : 5).[0m +400.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619547 ms (missed cycles : 3).[0m +401.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416311 ms (missed cycles : 4).[0m +402.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404137 ms (missed cycles : 3).[0m +403.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903118 ms (missed cycles : 3).[0m +404.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620219 ms (missed cycles : 3).[0m +405.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783960223.76322818 seconds +405.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373694 ms (missed cycles : 3).[0m +405.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783960224.34159803 seconds. +406.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783960224.76175547 seconds +406.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013157 ms (missed cycles : 5).[0m +406.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783960225.30280209 seconds. +407.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783960225.73387098 seconds +407.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +408.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918489 ms (missed cycles : 2).[0m +408.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951777 ms (missed cycles : 2).[0m +409.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838430 ms (missed cycles : 3).[0m +410.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211764 ms (missed cycles : 4).[0m +411.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736789 ms (missed cycles : 5).[0m +412.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875816 ms (missed cycles : 2).[0m +413.12sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.12sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.12sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.13sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.13sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.13sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +413.14sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.15sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.15sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.15sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +413.17sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.17sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.18sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.18sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.18sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.19sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.19sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.19sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.19sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.20sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.20sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.20sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +413.21sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] +413.22sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +413.23sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +413.25sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +413.25sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +413.27sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] +413.29sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] +413.30sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +413.30sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] +413.32sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] +413.34sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] +413.36sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] +413.37sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] +413.40sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] +413.40sINFOweb_video_server-31process has finished cleanly [pid 9425] +413.41sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +413.42sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9422] +413.43sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] +413.43sERRORmove_group-19process has died [pid 9349, 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_q7nuxbob --params-file /tmp/launch_params_6hmm13mw --params-file /tmp/launch_params_76k712n8 --params-file /tmp/launch_params_kcpcrply --params-file /tmp/launch_params_kuhjtasl --params-file /tmp/launch_params_gsu6csqb']. +413.44sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] +413.46sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +413.47sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +413.48sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +413.48sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +413.49sERRORui_teleop_bridgeTraceback (most recent call last): +413.49sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +413.49sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +413.49sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +413.49sINFOui_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 +413.49sINFOui_teleop_bridgerclpy.shutdown() +413.49sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +413.49sINFOui_teleop_bridge_shutdown(context=context) +413.49sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +413.49sINFOui_teleop_bridgecontext.shutdown() +413.49sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +413.49sINFOui_teleop_bridgeself.__context.shutdown() +413.49sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +413.49sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +413.49sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +413.49sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +413.49sINFOcomponent_container_mtStopping planning scene monitor[0m +413.49sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +413.49sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +413.49sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +413.49sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +413.49sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +413.49sERRORmove_groupwhat(): context cannot be slept with because it's invalid +413.49sERRORmove_groupStack trace (most recent call last) in thread 9863: +413.49sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +413.49sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6677117a63, in __clone +413.49sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f667708aaa3, in +413.49sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f667731cdb3, in +413.49sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f66779711c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +413.49sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f667768f4d0, in rclcpp::Rate::sleep() +413.50sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f66775e2a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +413.50sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f66775a7a71, in +413.50sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f66772eb390, in __cxa_throw +413.50sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f66772d5a54, in std::terminate() +413.50sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f66772eb0d9, in +413.50sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f66772d5ff4, in +413.50sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f66770168fe, in abort +413.50sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f667703327d, in raise +413.50sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f667708cb2c, in pthread_kill +413.50sERRORmove_groupAborted (Signal sent by tkill() 9349 0) +413.50sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +413.50sINFOros2_control_nodeShutdown request received....[0m +413.50sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +413.50sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +413.50sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +413.50sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +413.50sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +413.50sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +413.50sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +413.50sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +413.50sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +413.50sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +413.50sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +413.50sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +413.50sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +413.50sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +413.50sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +413.50sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +413.50sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +413.50sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +413.50sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +413.50sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +413.50sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +413.50sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +413.50sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +413.50sINFOros2_control_nodeShutting down the controller manager.[0m +413.50sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +413.50sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +413.50sINFOobjective_server_node[2026-07-13 16:30:32.029] [moveit_pro_license] [info] +413.50sINFOobjective_server_node* Application has successfully terminated +413.50sERRORodom_qos_relay.pyTraceback (most recent call last): +413.50sINFOodom_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> +413.50sINFOodom_qos_relay.pymain() +413.50sINFOodom_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 +413.50sINFOodom_qos_relay.pyrclpy.spin(node) +413.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +413.50sINFOodom_qos_relay.pyexecutor.spin_once() +413.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +413.51sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +413.51sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +413.51sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +413.51sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +413.51sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +413.51sINFOodom_qos_relay.pyreturn next(self._cb_iter) +413.51sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +413.51sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +413.51sINFOodom_qos_relay.pyraise ExternalShutdownException() +413.51sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +413.51sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 +413.51sERRORobjective_server_nodeStack trace (most recent call last): +413.51sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +413.51sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563305eb86a4, in _start +413.51sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2b94d8328a, in __libc_start_main +413.51sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2b94d831d0, in +413.51sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2b94da0bbd, in exit +413.51sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2b94da0a75, in +413.51sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f2b9526f8f5, in spdlog::details::registry::~registry() +413.51sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563305eb8d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +413.51sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563305ebf315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +413.51sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563305ebe5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +413.51sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563305ebab7b, in spdlog_ros::RosSink::~RosSink() +413.51sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563305eb8d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +413.51sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2b95925454, in rclcpp::Node::~Node() +413.51sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2b958e0515, in +413.51sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2b95923d20, in +413.51sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2b95923c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +413.51sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2b958e05d9, in +413.51sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2b958e5161, in rclcpp::CallbackGroup::~CallbackGroup() +413.51sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f2b40340b60]) +413.51sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +413.56sERRORobjective_server_node_main-24process has died [pid 9411, 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_2n1khzgo --params-file /tmp/launch_params_6tnvvvwy --params-file /tmp/launch_params_dbynmmgc --params-file /tmp/launch_params_zen790y_ --params-file /tmp/launch_params__i9yj6ck --params-file /tmp/launch_params_bp5d8mxk --params-file /tmp/launch_params_mho6i82w --params-file /tmp/launch_params_4fg7h825 --params-file /tmp/launch_params_hxk6e9bu']. +413.56sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system +413.61sINFOros2_control_nodeAsync messages lost 0[0m ×2 +413.61sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 +414.01sERRORcomponent_container_isolated-1process has died [pid 9265, 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_r3egr3uo --params-file /tmp/launch_params_7lqol_la -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +414.33sINFOexecute_objective_bridge-27process has finished cleanly [pid 9418] +414.35sERRORui_teleop_bridge-28process has died [pid 9420, 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_86nftn7_']. +414.36sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9410] +414.36sINFOcomponent_container_mt-26process has finished cleanly [pid 9417] +414.37sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9352] +414.42sINFOparameter_manager_node-20process has finished cleanly [pid 9350] +414.43sINFOwaypoint_manager_node-21process has finished cleanly [pid 9351] +414.45sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9270] +414.47sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9269] +414.49sINFOstatic_transform_publisher-3process has finished cleanly [pid 9267] +414.51sINFOstatic_transform_publisher-2process has finished cleanly [pid 9266] +414.53sERRORodom_qos_relay.py-4process has died [pid 9268, 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']. +415.48sINFOcomponent_container_mt-25process has finished cleanly [pid 9413] +416.02sINFOweb_bridge-29process has finished cleanly [pid 9421] +416.02sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system +416.16sINFOros2_control_node-7process has finished cleanly [pid 9271] +422.71sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-13-16-30-38-804758-aab512b669d8-10268 ×2 +431.49sINFOstatic_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' +431.49sINFOstatic_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' +431.57sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +431.59sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +431.59sINFOcontroller_managerupdate rate is 600 Hz +431.59sINFOcontroller_managerOverruns handling is : enabled +431.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +431.60sWARNcontroller_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. +431.62sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +431.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +431.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +431.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014625 ms (missed cycles : 2). +431.69sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +431.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +431.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +431.73sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +431.73sINFOros2_control_node-7process started with pid [10324] ×2 +431.73sINFOmove_group-19process started with pid [10402] ×2 +431.73sINFOparameter_manager_node-20process started with pid [10403] ×2 +431.73sINFOwaypoint_manager_node-21process started with pid [10404] ×2 +431.75sINFOmove_joint_resampler_node-22process started with pid [10405] ×2 +431.75sINFOmove_end_effector_resampler_node-23process started with pid [10447] ×2 +431.75sINFOobjective_server_node_main-24process started with pid [10464] ×2 +431.75sINFOcomponent_container_mt-25process started with pid [10465] ×2 +431.75sINFOcomponent_container_mt-26process started with pid [10466] ×2 +431.75sINFOexecute_objective_bridge-27process started with pid [10469] ×2 +431.75sINFOui_teleop_bridge-28process started with pid [10470] ×2 +431.75sINFOweb_bridge-29process started with pid [10473] ×2 +431.75sINFOtf2_web_republisher_node-30process started with pid [10474] ×2 +431.75sINFOweb_video_server-31process started with pid [10475] ×2 +431.75sINFOcomponent_container_isolated-1process started with pid [10318] ×2 +431.75sINFOcontroller_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. +431.75sINFOstatic_transform_publisher-2process started with pid [10319] ×2 +431.75sINFOstatic_transform_publisher-3process started with pid [10320] ×2 +431.75sINFOodom_qos_relay.py-4process started with pid [10321] ×2 +431.75sINFOscan_to_scan_filter_chain-5process started with pid [10322] ×2 +431.75sINFOscan_to_scan_filter_chain-6process started with pid [10323] ×2 +431.75sINFOros2-8process started with pid [10325] ×2 +431.76sINFOros2-9process started with pid [10392] ×2 +431.76sINFOros2-10process started with pid [10393] ×2 +431.76sINFOros2-11process started with pid [10394] ×2 +431.76sINFOros2-12process started with pid [10395] ×2 +431.76sINFOros2-13process started with pid [10396] ×2 +431.76sINFOros2-14process started with pid [10397] ×2 +431.76sINFOros2-15process started with pid [10398] ×2 +431.76sINFOros2-16process started with pid [10399] ×2 +431.76sINFOros2-17process started with pid [10400] ×2 +431.76sINFOros2-18process started with pid [10401] ×2 +431.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014625 ms (missed cycles : 2).[0m ×2 +431.83sINFOcontroller_serverCreating controller server +431.89sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +431.90sINFOlocal_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. +431.91sINFOlocal_costmap.local_costmapCreating Costmap +431.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +431.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +431.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +431.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +431.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +431.96sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +431.96sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +431.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +431.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +432.02sINFOmap_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. +432.02sINFOmap_serverCreating +432.03sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +432.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +432.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +432.07sINFOsmoother_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. +432.09sINFOrobot_state_publisherRobot initialized +432.09sINFOsmoother_serverCreating smoother server +432.10sINFOcontroller_managerReceived robot description from topic. +432.10sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +432.10sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +432.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +432.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +432.14sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +432.15sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +432.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +432.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +432.17sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +432.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +432.18sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +432.20sINFOplanner_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. +432.22sINFOplanner_serverCreating +432.24sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +432.26sINFOglobal_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. +432.26sINFOglobal_costmap.global_costmapCreating Costmap +432.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +432.28sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +432.28sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +432.28sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +432.28sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +432.28sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +432.28sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +432.28sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +432.28sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +432.28sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +432.29sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +432.29sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +432.32sINFOlifecycle_manager_localizationCreating +432.33sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +432.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +432.34sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +432.34sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +432.34sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +432.34sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +432.34sINFOmap_serverConfiguring +432.37sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.382225 seconds +432.38sINFOmove_groupLoaded robot model in 0.382225 seconds[0m ×2 +432.38sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +432.38sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +432.39sINFObehavior_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. +432.43sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +432.43sINFOamclConfiguring +432.44sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +432.44sINFOmap_serverActivating +432.44sINFOmap_serverCreating bond (map_server) to lifecycle manager. +432.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +432.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +432.47sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +432.50sWARNlaser_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. +432.50sWARNlaser_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. +432.50sINFObt_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. +432.55sINFObt_navigatorCreating +432.56sINFOlifecycle_manager_localizationServer map_server connected with bond. +432.56sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +432.56sINFOamclActivating +432.56sINFOamclSubscribed to initial_pose_topic: /initialpose +432.56sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +432.56sINFOamclSubscribed to map_topic: /map +432.56sINFOamclSubscribed to scan_topic: /scan_merged +432.56sINFOamclCreated reinitialize_global_localization service +432.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +432.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +432.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +432.58sINFOamclCreated request_nomotion_update service +432.58sINFOamclA new map was received +432.58sINFOamclInitializing particle filter instance +432.62sINFOwaypoint_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. +432.63sINFOwaypoint_followerCreating +432.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +432.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +432.64sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +432.67sINFOvelocity_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. +432.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769251 ms (missed cycles : 3). +432.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769251 ms (missed cycles : 3).[0m ×2 +432.71sINFOlifecycle_manager_navigationCreating +432.72sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +432.73sINFOwaypoint_manager_nodeLoaded robot model in 0.271043 seconds[0m ×2 +432.74sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +432.74sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +432.75sINFOcontroller_serverConfiguring controller interface +432.75sINFOcontroller_servergetting progress checker plugins.. +432.75sINFOcontroller_servergetting goal checker plugins.. +432.75sINFOcontroller_serverController frequency set to 20.0000Hz +432.75sINFOlocal_costmap.local_costmapConfiguring +432.76sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +432.78sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +432.81sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +432.81sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +432.81sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +432.83sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +432.83sWARNmove_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. +432.83sWARNmove_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. +432.83sWARNmove_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. +432.84sWARNmove_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. +432.84sWARNmove_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. +432.84sWARNmove_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. +432.84sWARNmove_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. +432.84sWARNmove_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. +432.84sWARNmove_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. +432.84sWARNmove_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. +432.86sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +432.86sINFOcontroller_serverController Server has progress_checker progress checkers available. +432.87sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +432.88sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +432.88sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +432.93sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +432.95sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +432.95sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +432.96sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +432.96sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +432.97sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +432.97sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +432.98sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +432.98sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +432.99sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +432.99sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +433.00sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +433.01sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +433.01sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +433.01sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +433.01sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +433.01sINFOcontroller_serverOptimizer reset +433.03sINFOcontroller_serverController Server has FollowPath controllers available. +433.05sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +433.05sINFOsmoother_serverConfiguring smoother server +433.06sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +433.07sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +433.08sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +433.08sINFOplanner_serverConfiguring +433.08sINFOglobal_costmap.global_costmapConfiguring +433.08sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +433.09sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +433.09sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +433.09sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +433.10sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +433.13sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +433.13sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +433.14sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +433.16sWARNwaypoint_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. +433.16sWARNwaypoint_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. +433.16sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner +433.16sINFOplanner_serverCleaning up +433.16sINFOglobal_costmap.global_costmapCleaning up +433.17sWARNwaypoint_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. +433.17sWARNwaypoint_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. +433.17sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +433.17sWARNwaypoint_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. +433.17sWARNwaypoint_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. +433.17sWARNwaypoint_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. +433.17sWARNwaypoint_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. +433.18sWARNwaypoint_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. +433.18sWARNwaypoint_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. +433.18sWARNwaypoint_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. +433.18sWARNwaypoint_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. +433.18sINFOamclParticle filter initialization completed +433.18sWARNwaypoint_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. +433.18sWARNwaypoint_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. +433.18sWARNwaypoint_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. +433.18sWARNwaypoint_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. +433.19sWARNwaypoint_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. +433.19sINFOamclInitializing particles from estimated pose and covariance +433.19sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +433.19sWARNwaypoint_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. +433.20sWARNwaypoint_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. +433.20sWARNwaypoint_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. +433.20sWARNwaypoint_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. +433.20sWARNwaypoint_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. +433.20sWARNwaypoint_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. +433.20sWARNwaypoint_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. +433.20sWARNwaypoint_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. +433.20sWARNwaypoint_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. +433.20sWARNwaypoint_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. +433.20sWARNwaypoint_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. +433.24sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +433.24sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +433.26sINFOlifecycle_manager_localizationServer amcl connected with bond. +433.26sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +433.26sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +433.29sINFOamclThe bond connection to the lifecycle manager is now fully formed +433.33sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +433.34sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +433.34sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +433.34sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +433.34sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +433.34sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +433.35sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +433.35sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +433.35sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +433.35sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +433.35sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +433.35sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +433.48sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +433.48sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +433.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674478 ms (missed cycles : 2). +433.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674478 ms (missed cycles : 2).[0m ×2 +434.16sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +434.16sINFOcontroller_managerActivating component 'ur_mujoco_control'. +434.16sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +434.16sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +434.19sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +434.19sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +434.34sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +434.34sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +434.35sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju +434.35sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju [0m ×2 +434.38sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +434.39sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +434.39sINFOforce_torque_sensor_broadcasterconfigure successful +434.40sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +434.40sINFOcontroller_managerSuccessfully switched controllers! ×8 +434.40sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +434.60sINFOobjective_server_node[2026-07-13 16:30:53.201] [moveit_pro_license] [info] ×2 +434.66sINFOobjective_server_nodeLoaded robot model in 0.0253277 seconds[0m ×2 +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +434.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +434.72sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +434.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +434.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +434.75sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +434.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +434.75sINFOstreaming_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) +434.76sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +434.76sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +434.76sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +434.76sINFOros2-8process has finished cleanly [pid 10325] ×2 +434.76sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju +434.76sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju [0m ×2 +434.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +434.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +434.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +434.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +434.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +434.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +434.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +434.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +434.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +434.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +434.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +434.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +434.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +434.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +434.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +434.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +434.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +434.80sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +434.83sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +434.83sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +434.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +434.83sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +434.83sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +434.84sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +434.84sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +434.84sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +434.86sINFOmove_groupMoveGroup debug mode is ON +434.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.236595 ms (missed cycles : 5). +434.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.236595 ms (missed cycles : 5).[0m ×2 +434.95sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +434.95sWARNobjective_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. +434.95sWARNobjective_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. +434.95sWARNobjective_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. +434.95sWARNobjective_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. +434.95sWARNobjective_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. +434.95sWARNobjective_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. +434.95sWARNobjective_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. +434.95sWARNobjective_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. +434.95sWARNobjective_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. +434.95sWARNobjective_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. +434.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +434.97sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +435.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +435.00sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +435.02sINFOmove_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
********************************************************
+435.03sINFOstreaming_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) +435.12sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +435.15sINFOros2-14process has finished cleanly [pid 10397] ×2 +435.37sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +435.37sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +435.38sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju +435.38sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju [0m ×2 +435.39sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1783960252.883 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +435.40sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +435.40sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +435.40sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +435.41sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +435.42sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +435.42sINFOcomponent_container_mtLoaded robot model in 0.419666 seconds[0m ×2 +435.70sWARNplanning_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. +435.70sWARNplanning_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. +435.70sWARNplanning_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. +435.70sWARNplanning_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. +435.70sWARNplanning_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. +435.70sWARNplanning_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. +435.70sWARNplanning_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. +435.70sWARNplanning_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. +435.70sWARNplanning_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. +435.70sWARNplanning_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. +435.71sWARNplanning_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. +435.71sWARNplanning_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. +435.71sWARNplanning_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. +435.71sWARNplanning_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. +435.71sWARNplanning_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. +435.71sWARNplanning_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. +435.71sWARNplanning_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. +435.71sWARNplanning_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. +435.71sWARNplanning_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. +435.71sWARNplanning_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. +435.71sWARNplanning_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. +435.71sWARNplanning_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. +435.71sWARNplanning_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. +435.71sWARNplanning_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. +435.71sWARNplanning_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. +435.71sWARNplanning_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. +435.72sWARNplanning_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. +435.72sWARNplanning_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. +435.76sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +435.76sINFOros2-9process has finished cleanly [pid 10392] ×2 +435.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751257 ms (missed cycles : 2). +435.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751257 ms (missed cycles : 2).[0m ×2 +436.02sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +436.02sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +436.13sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju +436.13sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju [0m ×2 +436.15sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +436.15sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +436.41sINFOros2_control_node[2026-07-13 16:30:55.007] [info] Controller state will be published at 20 Hz. ×2 +436.41sINFOros2_control_node[2026-07-13 16:30:55.010] [info] JointVelocityController 'on_configure' succeeded. ×2 +436.76sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/load_controller to become available... +436.76sINFOros2waiting for service /controller_manager/load_controller to become available...[0m ×2 +436.78sINFOros2-18process has finished cleanly [pid 10401] ×2 +437.01sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +437.01sINFOcontroller_managerLoading controller 'joint_velocity_controller' +437.01sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju +437.01sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju [0m ×2 +437.03sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +437.03sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +437.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487598 ms (missed cycles : 4). +437.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487598 ms (missed cycles : 4).[0m ×2 +437.27sINFOros2_control_node[2026-07-13 16:30:55.871] [info] Controller state will be published at 20 Hz. ×2 +437.27sINFOros2_control_node[2026-07-13 16:30:55.872] [info] JointVelocityController 'on_configure' succeeded. ×2 +437.59sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +437.59sINFOcontroller_managerLoading controller 'velocity_force_controller' +437.64sINFOros2-17process has finished cleanly [pid 10400] ×2 +437.67sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju +437.67sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju [0m ×2 +437.72sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +437.73sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +437.91sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1783960255.386 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +437.95sINFOros2_control_node[2026-07-13 16:30:56.552] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +437.96sINFOros2_control_node[2026-07-13 16:30:56.555] [info] Controller state will be published at 10 Hz. ×2 +437.96sINFOros2_control_node[2026-07-13 16:30:56.556] [info] VelocityForceController 'on_configure' succeeded. ×2 +438.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201991 ms (missed cycles : 3). +438.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201991 ms (missed cycles : 3).[0m ×2 +438.30sINFOros2-15process has finished cleanly [pid 10398] ×2 +438.30sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +438.32sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +438.32sINFOcontroller_managerLoading controller 'platform_velocity_controller' +438.32sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju +438.32sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju [0m ×2 +438.34sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +438.35sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +438.35sINFOplatform_velocity_controllerconfigure successful +438.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +438.36sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +438.74sINFOros2-11process has finished cleanly [pid 10394] ×2 +438.78sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +439.04sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +439.04sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +439.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju +439.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju [0m ×2 +439.06sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +439.06sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +439.06sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +439.06sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +439.06sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +439.07sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +439.08sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +439.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467830 ms (missed cycles : 2). +439.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467830 ms (missed cycles : 2).[0m ×2 +439.21sINFOamclParticle filter update iteration stats: 2103 particles 723 points - 2.819ms +439.40sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +439.40sINFOcontroller_managerLoading controller 'vacuum_gripper' +439.40sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju +439.41sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju [0m ×2 +439.41sINFOros2-10process has finished cleanly [pid 10393] ×2 +439.42sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +439.46sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +439.46sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +439.46sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +439.46sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +439.48sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +439.82sINFOros2-12process has finished cleanly [pid 10395] ×2 +439.86sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +440.11sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +440.11sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +440.11sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju +440.11sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju [0m ×2 +440.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141199 ms (missed cycles : 2). +440.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141199 ms (missed cycles : 2).[0m ×2 +440.14sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +440.14sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +440.40sINFOros2_control_node[2026-07-13 16:30:58.996] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +440.40sINFOros2_control_node[2026-07-13 16:30:58.998] [info] Controller state will be published at 10 Hz. ×2 +440.40sINFOros2_control_node[2026-07-13 16:30:58.999] [info] VelocityForceController 'on_configure' succeeded. ×2 +440.76sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +440.79sINFOros2-16process has finished cleanly [pid 10399] ×2 +441.02sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +441.02sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +441.02sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju +441.02sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_hqop59t7 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z4jt71f6 --params-file /tmp/launch_params_h29po0ju [0m ×2 +441.05sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +441.05sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +441.05sINFOplatform_velocity_controller_nav2configure successful +441.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745295 ms (missed cycles : 2). +441.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745295 ms (missed cycles : 2).[0m ×2 +441.36sINFOros2-13process has finished cleanly [pid 10396] ×2 +442.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975276 ms (missed cycles : 3). +442.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975276 ms (missed cycles : 3).[0m ×2 +443.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4). +443.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4).[0m ×2 +444.20sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +444.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). +444.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 +445.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). +445.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 +446.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 +446.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +446.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +446.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 +446.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). +446.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 +446.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 +446.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 +447.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). +447.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 +447.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 +447.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 +448.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 +448.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +448.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +448.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +448.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +448.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +448.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +448.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 +448.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). +448.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 +448.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 +448.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +448.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +448.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4).[0m ×2 + 0.92sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.09sINFOmove_groupClearing octomap...[0m ×2 + 3.09sINFOmove_groupOctomap cleared.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 6.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.83sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.5s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4).[0m ×2 + 0.92sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.09sINFOmove_groupClearing octomap...[0m ×2 + 3.09sINFOmove_groupOctomap cleared.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 6.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4).[0m ×2 + 0.92sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.09sINFOmove_groupClearing octomap...[0m ×2 + 3.09sINFOmove_groupOctomap cleared.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4).[0m ×2 + 0.92sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.09sINFOmove_groupClearing octomap...[0m ×2 + 3.09sINFOmove_groupOctomap cleared.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 6.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4).[0m ×2 + 0.92sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.09sINFOmove_groupClearing octomap...[0m ×2 + 3.09sINFOmove_groupOctomap cleared.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 6.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162021 ms (missed cycles : 4).[0m ×2 + 0.92sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.09sINFOmove_groupClearing octomap...[0m ×2 + 3.09sINFOmove_groupOctomap cleared.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 6.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218258 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218258 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318971 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461126 ms (missed cycles : 4).[0m ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783960264.96310759 seconds. ×3 + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.17sINFOmove_groupClearing octomap...[0m ×2 + 2.17sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783960264.97331357 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905969 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783960265.52929759 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783960265.53944921 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038855 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783960266.07981443 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783960266.23036599 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783960266.80226922 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783960266.85242319 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367611 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783960267.41232872 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936401 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019958 ms (missed cycles : 3).[0m ×2 | ||||