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 · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272428 ms (missed cycles : 3).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 0.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159729 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159729 ms (missed cycles : 5).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597257 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597257 ms (missed cycles : 4).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164261 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164261 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.17sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.22sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783715567.74213219 seconds ×3 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.774ms + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.869ms + 3.76sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783715568.28951645 seconds. ×3 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.672ms + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.556ms + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356994 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356994 ms (missed cycles : 4).[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.604ms + 4.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.221ms + 4.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.199ms + 5.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.07sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.07sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237991 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237991 ms (missed cycles : 2).[0m ×2 + 5.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.501ms + 6.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.231ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401179 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401179 ms (missed cycles : 4).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928141 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928141 ms (missed cycles : 2).[0m ×2 + 7.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.074ms + 8.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.616ms + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801051 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801051 ms (missed cycles : 3).[0m ×2 + 8.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.460ms + 9.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.324ms + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032013 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032013 ms (missed cycles : 2).[0m ×2 + 9.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.766ms + 10.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.508ms + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632539 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632539 ms (missed cycles : 3).[0m ×2 + 10.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.450ms + 11.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.733ms + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106030 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106030 ms (missed cycles : 2).[0m ×2 + 11.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.898ms + 12.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.346ms + 12.76sINFOamclParticle filter update iteration stats: 4849 particles 723 points - 4.796ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424238 ms (missed cycles : 4). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424238 ms (missed cycles : 4).[0m ×2 + 13.25sINFOamclParticle filter update iteration stats: 4539 particles 723 points - 4.375ms + 13.76sINFOamclParticle filter update iteration stats: 3814 particles 723 points - 4.079ms + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.306274 ms (missed cycles : 4). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.306274 ms (missed cycles : 4).[0m ×2 + 14.25sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 3.080ms + 14.75sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 2.794ms + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172084 ms (missed cycles : 3). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172084 ms (missed cycles : 3).[0m ×2 + 15.25sINFOamclParticle filter update iteration stats: 1311 particles 723 points - 1.943ms + 15.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.141ms + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389658 ms (missed cycles : 3). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389658 ms (missed cycles : 3).[0m ×2 + 16.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 16.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265237 ms (missed cycles : 2). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265237 ms (missed cycles : 2).[0m ×2 + 17.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms ×2 + 17.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms ×2 + 18.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128906 ms (missed cycles : 2). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128906 ms (missed cycles : 2).[0m ×2 + 18.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 18.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.709ms + 19.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279273 ms (missed cycles : 3). + 19.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279273 ms (missed cycles : 3).[0m ×2 + 19.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 19.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887578 ms (missed cycles : 2). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887578 ms (missed cycles : 2).[0m ×2 + 20.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 20.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 21.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338154 ms (missed cycles : 4). + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338154 ms (missed cycles : 4).[0m ×2 + 21.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 21.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 22.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791165 ms (missed cycles : 2). + 22.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791165 ms (missed cycles : 2).[0m ×2 + 22.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.749ms + 22.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 23.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823585 ms (missed cycles : 2). + 23.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823585 ms (missed cycles : 2).[0m ×2 + 23.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 23.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 24.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796357 ms (missed cycles : 4). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796357 ms (missed cycles : 4).[0m ×2 + 24.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 24.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.675ms + 25.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603377 ms (missed cycles : 2). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603377 ms (missed cycles : 2).[0m ×2 + 25.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.809ms + 26.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 26.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863494 ms (missed cycles : 3). + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863494 ms (missed cycles : 3).[0m ×2 + 26.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 27.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.770ms + 27.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323336 ms (missed cycles : 3). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323336 ms (missed cycles : 3).[0m ×2 + 27.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 28.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 28.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042000 ms (missed cycles : 4). + 28.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042000 ms (missed cycles : 4).[0m ×2 + 28.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.676ms + 29.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms ×2 + 29.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093993 ms (missed cycles : 3). + 29.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093993 ms (missed cycles : 3).[0m ×2 + 29.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 30.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 30.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254927 ms (missed cycles : 2). + 30.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254927 ms (missed cycles : 2).[0m ×2 + 31.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568566 ms (missed cycles : 2). + 31.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568566 ms (missed cycles : 2).[0m ×2 + 32.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927102 ms (missed cycles : 4). + 32.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927102 ms (missed cycles : 4).[0m ×2 + 33.69sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 33.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066302 ms (missed cycles : 2). + 33.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066302 ms (missed cycles : 2).[0m ×2 + 34.29sINFOobjective_server_nodePlanning for 58 path waypoints. ×3 + 34.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046902 ms (missed cycles : 4). + 34.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046902 ms (missed cycles : 4).[0m ×2 + 35.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 35.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163573 ms (missed cycles : 2). + 35.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163573 ms (missed cycles : 2).[0m ×2 + 36.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 36.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712824 ms (missed cycles : 2). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712824 ms (missed cycles : 2).[0m ×2 + 37.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 37.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 37.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446198 ms (missed cycles : 3). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446198 ms (missed cycles : 3).[0m ×2 + 37.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 38.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.725ms + 38.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 38.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414629 ms (missed cycles : 4). + 38.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414629 ms (missed cycles : 4).[0m ×2 + 39.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 39.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196484 ms (missed cycles : 4). + 39.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196484 ms (missed cycles : 4).[0m ×2 + 40.76sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 41.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337383 ms (missed cycles : 3). + 41.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337383 ms (missed cycles : 3).[0m ×2 + 42.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806401 ms (missed cycles : 2). + 42.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806401 ms (missed cycles : 2).[0m ×2 + 43.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775309 ms (missed cycles : 2). + 43.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775309 ms (missed cycles : 2).[0m ×2 + 43.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.674ms + 44.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.723ms + 44.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254122 ms (missed cycles : 2). + 44.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254122 ms (missed cycles : 2).[0m ×2 + 44.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.679ms + 45.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343930 ms (missed cycles : 3). + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343930 ms (missed cycles : 3).[0m ×2 + 45.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 46.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.636ms + 46.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017706 ms (missed cycles : 4). + 46.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017706 ms (missed cycles : 4).[0m ×2 + 47.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.682ms + 47.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491371 ms (missed cycles : 3). + 47.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491371 ms (missed cycles : 3).[0m ×2 + 48.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.653ms + 48.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.498378 ms (missed cycles : 6). + 48.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.498378 ms (missed cycles : 6).[0m ×2 + 49.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 49.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299398 ms (missed cycles : 4). + 49.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299398 ms (missed cycles : 4).[0m ×2 + 50.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 50.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204507 ms (missed cycles : 2). + 50.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204507 ms (missed cycles : 2).[0m ×2 + 51.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.652ms + 51.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.357436 ms (missed cycles : 6). + 51.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.357436 ms (missed cycles : 6).[0m ×2 + 52.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.691ms + 52.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940714 ms (missed cycles : 2). + 52.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940714 ms (missed cycles : 2).[0m ×2 + 53.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.730ms + 53.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342387 ms (missed cycles : 3). + 53.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342387 ms (missed cycles : 3).[0m ×2 + 54.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966664 ms (missed cycles : 4). + 54.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966664 ms (missed cycles : 4).[0m ×2 + 55.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.109727 ms (missed cycles : 4). + 55.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.109727 ms (missed cycles : 4).[0m ×2 + 56.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.607ms + 56.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961266 ms (missed cycles : 4). + 56.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961266 ms (missed cycles : 4).[0m ×2 + 57.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.644ms + 58.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358372 ms (missed cycles : 3). + 58.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358372 ms (missed cycles : 3).[0m ×2 + 58.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.755ms + 59.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059387 ms (missed cycles : 5). + 59.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059387 ms (missed cycles : 5).[0m ×2 + 60.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.659ms + 60.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.698962 ms (missed cycles : 5). + 60.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.698962 ms (missed cycles : 5).[0m ×2 + 61.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634989 ms (missed cycles : 2). + 61.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634989 ms (missed cycles : 2).[0m ×2 + 62.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816605 ms (missed cycles : 2). + 62.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816605 ms (missed cycles : 2).[0m ×2 + 63.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310226 ms (missed cycles : 3). + 63.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310226 ms (missed cycles : 3).[0m ×2 + 64.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398892 ms (missed cycles : 3). + 64.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398892 ms (missed cycles : 3).[0m ×2 + 65.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419522 ms (missed cycles : 2). + 65.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419522 ms (missed cycles : 2).[0m ×2 + 66.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857283 ms (missed cycles : 2). + 66.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857283 ms (missed cycles : 2).[0m ×2 + 67.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397602 ms (missed cycles : 2). + 67.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397602 ms (missed cycles : 2).[0m ×2 + 68.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347957 ms (missed cycles : 2). + 68.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347957 ms (missed cycles : 2).[0m ×2 + 69.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448427 ms (missed cycles : 3). + 69.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448427 ms (missed cycles : 3).[0m ×2 + 70.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813849 ms (missed cycles : 2). + 70.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813849 ms (missed cycles : 2).[0m ×2 + 71.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245765 ms (missed cycles : 2). + 71.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245765 ms (missed cycles : 2).[0m ×2 + 72.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761861 ms (missed cycles : 4). + 72.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761861 ms (missed cycles : 4).[0m ×2 + 73.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916175 ms (missed cycles : 2). + 73.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916175 ms (missed cycles : 2).[0m ×2 + 74.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002465 ms (missed cycles : 4). + 74.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002465 ms (missed cycles : 4).[0m ×2 + 75.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434539 ms (missed cycles : 3). + 75.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434539 ms (missed cycles : 3).[0m ×2 + 76.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372118 ms (missed cycles : 3). + 76.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372118 ms (missed cycles : 3).[0m ×2 + 78.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073901 ms (missed cycles : 4). + 78.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073901 ms (missed cycles : 4).[0m ×2 + 79.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484742 ms (missed cycles : 3). + 79.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484742 ms (missed cycles : 3).[0m ×2 + 80.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721971 ms (missed cycles : 2). + 80.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721971 ms (missed cycles : 2).[0m ×2 + 81.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298404 ms (missed cycles : 2). + 81.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298404 ms (missed cycles : 2).[0m ×2 + 82.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461745 ms (missed cycles : 2). + 82.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461745 ms (missed cycles : 2).[0m ×2 + 83.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907425 ms (missed cycles : 2). + 83.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907425 ms (missed cycles : 2).[0m ×2 + 84.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887984 ms (missed cycles : 4). + 84.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887984 ms (missed cycles : 4).[0m ×2 + 85.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902557 ms (missed cycles : 3). + 85.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902557 ms (missed cycles : 3).[0m ×2 + 86.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899009 ms (missed cycles : 3). + 86.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899009 ms (missed cycles : 3).[0m ×2 + 87.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450081 ms (missed cycles : 4). + 87.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450081 ms (missed cycles : 4).[0m ×2 + 88.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338369 ms (missed cycles : 3). + 88.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338369 ms (missed cycles : 3).[0m ×2 + 89.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284718 ms (missed cycles : 4). + 89.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284718 ms (missed cycles : 4).[0m ×2 + 90.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347105 ms (missed cycles : 2). + 90.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347105 ms (missed cycles : 2).[0m ×2 + 91.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335796 ms (missed cycles : 3). + 91.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335796 ms (missed cycles : 3).[0m ×2 + 92.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972667 ms (missed cycles : 2). + 92.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972667 ms (missed cycles : 2).[0m ×2 + 93.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688715 ms (missed cycles : 2). + 93.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688715 ms (missed cycles : 2).[0m ×2 + 93.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.470ms + 94.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.775ms + 94.34sINFOjoint_trajectory_controllerGot request to cancel goal + 94.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 94.34sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 94.34sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 94.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled: Objective execution was halted at time: 1783715658.88370013 seconds ×3 + 94.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.038ms + 94.39sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1783715658.91373491 seconds. ×3 + 94.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.497897 ms (missed cycles : 5). + 94.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.497897 ms (missed cycles : 5).[0m ×2 + 94.70sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 95.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336912 ms (missed cycles : 4). + 95.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336912 ms (missed cycles : 4).[0m ×2 + 96.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________________________________________________________________X] ×2 + 96.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969081 ms (missed cycles : 3). + 96.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969081 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 72.7s | 3 errors · 228 warnings · 212 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.288ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.020ms + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073916 ms (missed cycles : 4). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073916 ms (missed cycles : 4).[0m ×2 + 0.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.495ms + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.401ms + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769023 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769023 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.954ms + 2.50sINFOamclParticle filter update iteration stats: 4528 particles 723 points - 5.057ms + 3.00sINFOamclParticle filter update iteration stats: 3783 particles 723 points - 3.752ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799816 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799816 ms (missed cycles : 5).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 3159 particles 723 points - 3.185ms + 3.51sINFOjoint_trajectory_controllerGot request to cancel goal + 3.51sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.51sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.51sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1783715669.21806550 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.821ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.366ms + 4.07sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1783715669.76096559 seconds. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491723 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491723 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.808ms + 4.39sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.704ms + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.574ms + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.281916 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.281916 ms (missed cycles : 6).[0m ×2 + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.968ms + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.263ms + 5.59sINFOobjective_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 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667424 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667424 ms (missed cycles : 2).[0m ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.956ms + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.368ms + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753214 ms (missed cycles : 5). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753214 ms (missed cycles : 5).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685294 ms (missed cycles : 3). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685294 ms (missed cycles : 3).[0m ×2 + 8.58sINFOamclParticle filter update iteration stats: 4446 particles 723 points - 4.881ms + 9.10sINFOamclParticle filter update iteration stats: 2502 particles 723 points - 3.402ms + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.237050 ms (missed cycles : 8). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.237050 ms (missed cycles : 8).[0m ×2 + 9.59sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 2.047ms + 10.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.312ms + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622135 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622135 ms (missed cycles : 2).[0m ×2 + 10.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms ×2 + 11.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709821 ms (missed cycles : 5). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709821 ms (missed cycles : 5).[0m ×2 + 11.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms ×2 + 12.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 12.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.788ms ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389231 ms (missed cycles : 2). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389231 ms (missed cycles : 2).[0m ×2 + 13.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.804ms + 13.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357823 ms (missed cycles : 3). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357823 ms (missed cycles : 3).[0m ×2 + 14.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.775ms + 14.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256365 ms (missed cycles : 3). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256365 ms (missed cycles : 3).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 15.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.630547 ms (missed cycles : 7). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.630547 ms (missed cycles : 7).[0m ×2 + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms + 16.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.684ms + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.360967 ms (missed cycles : 6). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.360967 ms (missed cycles : 6).[0m ×2 + 17.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.750ms + 17.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660087 ms (missed cycles : 3). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660087 ms (missed cycles : 3).[0m ×2 + 18.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.762ms + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.598635 ms (missed cycles : 6). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.598635 ms (missed cycles : 6).[0m ×2 + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902068 ms (missed cycles : 2). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902068 ms (missed cycles : 2).[0m ×2 + 20.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.714ms + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.707ms + 20.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657870 ms (missed cycles : 3). + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657870 ms (missed cycles : 3).[0m ×2 + 21.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.712ms + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.695ms + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751240 ms (missed cycles : 2). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751240 ms (missed cycles : 2).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 22.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732963 ms (missed cycles : 5). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732963 ms (missed cycles : 5).[0m ×2 + 23.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 23.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.743ms + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866122 ms (missed cycles : 3). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866122 ms (missed cycles : 3).[0m ×2 + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.798ms + 24.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.149ms + 25.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280133 ms (missed cycles : 2). + 25.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280133 ms (missed cycles : 2).[0m ×2 + 25.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.666ms + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.702ms + 26.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640704 ms (missed cycles : 2). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640704 ms (missed cycles : 2).[0m ×2 + 26.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms ×2 + 27.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269980 ms (missed cycles : 3). + 27.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269980 ms (missed cycles : 3).[0m ×2 + 27.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 28.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 28.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754497 ms (missed cycles : 2). + 28.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754497 ms (missed cycles : 2).[0m ×2 + 28.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms ×2 + 29.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638965 ms (missed cycles : 2). + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638965 ms (missed cycles : 2).[0m ×2 + 29.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.701ms + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.699ms + 30.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728606 ms (missed cycles : 2). + 30.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728606 ms (missed cycles : 2).[0m ×2 + 30.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 31.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671059 ms (missed cycles : 4). + 31.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671059 ms (missed cycles : 4).[0m ×2 + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 32.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074220 ms (missed cycles : 3). + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074220 ms (missed cycles : 3).[0m ×2 + 32.88sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.88sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704467 ms (missed cycles : 5). + 33.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704467 ms (missed cycles : 5).[0m ×2 + 33.56sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.18sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 34.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881295 ms (missed cycles : 2). + 34.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881295 ms (missed cycles : 2).[0m ×2 + 35.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062655 ms (missed cycles : 4). + 35.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062655 ms (missed cycles : 4).[0m ×2 + 36.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729406 ms (missed cycles : 5). + 36.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729406 ms (missed cycles : 5).[0m ×2 + 36.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566777 ms (missed cycles : 4). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566777 ms (missed cycles : 4).[0m ×2 + 37.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 38.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886403 ms (missed cycles : 2). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886403 ms (missed cycles : 2).[0m ×2 + 39.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317499 ms (missed cycles : 3). + 39.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317499 ms (missed cycles : 3).[0m ×2 + 39.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.715ms + 40.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835042 ms (missed cycles : 2). + 40.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835042 ms (missed cycles : 2).[0m ×2 + 41.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727579 ms (missed cycles : 4). + 41.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727579 ms (missed cycles : 4).[0m ×2 + 42.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359220 ms (missed cycles : 4). + 42.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359220 ms (missed cycles : 4).[0m ×2 + 43.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.659ms + 43.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513330 ms (missed cycles : 2). + 43.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513330 ms (missed cycles : 2).[0m ×2 + 44.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 44.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170652 ms (missed cycles : 4). + 44.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170652 ms (missed cycles : 4).[0m ×2 + 45.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 46.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921011 ms (missed cycles : 2). + 46.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921011 ms (missed cycles : 2).[0m ×2 + 46.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 47.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940337 ms (missed cycles : 2). + 47.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940337 ms (missed cycles : 2).[0m ×2 + 47.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 48.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687638 ms (missed cycles : 5). + 48.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687638 ms (missed cycles : 5).[0m ×2 + 48.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.651ms + 49.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043793 ms (missed cycles : 2). + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043793 ms (missed cycles : 2).[0m ×2 + 49.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.796ms + 50.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182551 ms (missed cycles : 4). + 50.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182551 ms (missed cycles : 4).[0m ×2 + 50.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 51.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.393333 ms (missed cycles : 6). + 51.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.393333 ms (missed cycles : 6).[0m ×2 + 51.39sINFOobjective_server_nodePlanning for 43 path waypoints. ×3 + 52.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116388 ms (missed cycles : 4). + 52.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116388 ms (missed cycles : 4).[0m ×2 + 53.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045810 ms (missed cycles : 4). + 53.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045810 ms (missed cycles : 4).[0m ×2 + 54.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253835 ms (missed cycles : 2). + 54.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253835 ms (missed cycles : 2).[0m ×2 + 55.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.755ms + 55.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691450 ms (missed cycles : 3). + 55.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691450 ms (missed cycles : 3).[0m ×2 + 55.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.680ms + 56.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113789 ms (missed cycles : 2). + 56.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113789 ms (missed cycles : 2).[0m ×2 + 57.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841883 ms (missed cycles : 2). + 57.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841883 ms (missed cycles : 2).[0m ×2 + 57.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.099ms + 58.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260417 ms (missed cycles : 2). + 58.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260417 ms (missed cycles : 2).[0m ×2 + 58.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.655ms + 59.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208973 ms (missed cycles : 2). + 59.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208973 ms (missed cycles : 2).[0m ×2 + 59.61sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 60.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 60.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656136 ms (missed cycles : 4). + 60.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656136 ms (missed cycles : 4).[0m ×2 + 61.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 61.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727130 ms (missed cycles : 5). + 61.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727130 ms (missed cycles : 5).[0m ×2 + 62.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988395 ms (missed cycles : 4). + 62.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988395 ms (missed cycles : 4).[0m ×2 + 62.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.729ms ×2 + 63.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329070 ms (missed cycles : 4). + 63.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329070 ms (missed cycles : 4).[0m ×2 + 63.94sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 64.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584597 ms (missed cycles : 4). + 64.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584597 ms (missed cycles : 4).[0m ×2 + 65.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201392 ms (missed cycles : 4). + 65.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201392 ms (missed cycles : 4).[0m ×2 + 66.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524414 ms (missed cycles : 4). + 66.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524414 ms (missed cycles : 4).[0m ×2 + 67.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.754ms + 67.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994228 ms (missed cycles : 2). + 67.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994228 ms (missed cycles : 2).[0m ×2 + 68.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802982 ms (missed cycles : 2). + 68.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802982 ms (missed cycles : 2).[0m ×2 + 68.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 69.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715910 ms (missed cycles : 4). + 69.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715910 ms (missed cycles : 4).[0m ×2 + 70.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 71.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677371 ms (missed cycles : 2). + 71.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677371 ms (missed cycles : 2).[0m ×2 + 72.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901779 ms (missed cycles : 2). + 72.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901779 ms (missed cycles : 2).[0m ×2 + 72.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 73.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 73.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2). + 73.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2).[0m ×2 + 73.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.697ms + 74.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4). + 74.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4).[0m ×2 + 74.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 75.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2). + 75.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2).[0m ×2 + 75.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 76.19sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783715741.88111663 seconds ×3 + 76.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3). + 76.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3).[0m ×2 + 76.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.850ms + 76.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.060ms + 76.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783715742.43824720 seconds. ×3 + 77.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.219ms + 77.07sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 77.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.171ms + 77.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5). + 77.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5).[0m ×2 + 77.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.601ms + 77.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.324ms + 78.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.319ms + 78.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3). + 78.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3).[0m ×2 + 78.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.538ms + 78.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.683ms + 79.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.469ms + 79.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3). + 79.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.6s | 186 warnings · 162 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128013 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128013 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783715471.57545233 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783715472.11648417 seconds. ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943485 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943485 ms (missed cycles : 3).[0m ×2 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (2.5891e-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 + 1.36sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.36sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.37sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.37sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301021 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301021 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040799 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040799 ms (missed cycles : 2).[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: 1783715475.02660751 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1783715475.57884455 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728621 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728621 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883154 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883154 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792412 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792412 ms (missed cycles : 3).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131368 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131368 ms (missed cycles : 3).[0m ×2 + 7.71sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 1.971ms + 8.31sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 1.527ms + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.732653 ms (missed cycles : 5). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.732653 ms (missed cycles : 5).[0m ×2 + 8.82sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 1.373ms + 9.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408225 ms (missed cycles : 4). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408225 ms (missed cycles : 4).[0m ×2 + 9.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 10.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970498 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970498 ms (missed cycles : 2).[0m ×2 + 10.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 11.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.770ms ×3 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222099 ms (missed cycles : 2). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222099 ms (missed cycles : 2).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.787ms + 12.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544720 ms (missed cycles : 2). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544720 ms (missed cycles : 2).[0m ×2 + 12.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 13.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712591 ms (missed cycles : 2). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712591 ms (missed cycles : 2).[0m ×2 + 13.72sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 14.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747085 ms (missed cycles : 2). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747085 ms (missed cycles : 2).[0m ×2 + 14.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 15.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms ×2 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332425 ms (missed cycles : 3). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332425 ms (missed cycles : 3).[0m ×2 + 15.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.717ms + 16.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226432 ms (missed cycles : 2). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226432 ms (missed cycles : 2).[0m ×2 + 16.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 17.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997405 ms (missed cycles : 2). + 17.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997405 ms (missed cycles : 2).[0m ×2 + 17.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 18.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.711ms + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301233 ms (missed cycles : 4). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301233 ms (missed cycles : 4).[0m ×2 + 18.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 19.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms ×2 + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.070098 ms (missed cycles : 7). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.070098 ms (missed cycles : 7).[0m ×2 + 19.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.718ms + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125676 ms (missed cycles : 2). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125676 ms (missed cycles : 2).[0m ×2 + 20.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms ×3 + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243784 ms (missed cycles : 3). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243784 ms (missed cycles : 3).[0m ×2 + 22.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 22.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523974 ms (missed cycles : 4). + 22.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523974 ms (missed cycles : 4).[0m ×2 + 22.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 23.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.785ms + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.707ms + 23.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525450 ms (missed cycles : 3). + 23.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525450 ms (missed cycles : 3).[0m ×2 + 24.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 24.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 24.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787574 ms (missed cycles : 4). + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787574 ms (missed cycles : 4).[0m ×2 + 25.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.698ms + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823708 ms (missed cycles : 2). + 25.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823708 ms (missed cycles : 2).[0m ×2 + 26.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.630ms + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551357 ms (missed cycles : 3). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551357 ms (missed cycles : 3).[0m ×2 + 27.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 27.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.755ms + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821688 ms (missed cycles : 2). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821688 ms (missed cycles : 2).[0m ×2 + 28.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.705ms ×2 + 28.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183498 ms (missed cycles : 2). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183498 ms (missed cycles : 2).[0m ×2 + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367035 ms (missed cycles : 2). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367035 ms (missed cycles : 2).[0m ×2 + 30.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.807ms + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745816 ms (missed cycles : 5). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745816 ms (missed cycles : 5).[0m ×2 + 32.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287482 ms (missed cycles : 6). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287482 ms (missed cycles : 6).[0m ×2 + 32.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.291ms + 33.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811236 ms (missed cycles : 3). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811236 ms (missed cycles : 3).[0m ×2 + 34.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970221 ms (missed cycles : 4). + 34.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970221 ms (missed cycles : 4).[0m ×2 + 34.50sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581343 ms (missed cycles : 2). + 35.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581343 ms (missed cycles : 2).[0m ×2 + 36.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273723 ms (missed cycles : 3). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273723 ms (missed cycles : 3).[0m ×2 + 37.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149442 ms (missed cycles : 2). + 37.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149442 ms (missed cycles : 2).[0m ×2 + 38.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954930 ms (missed cycles : 3). + 38.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954930 ms (missed cycles : 3).[0m ×2 + 39.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356363 ms (missed cycles : 2). + 39.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356363 ms (missed cycles : 2).[0m ×2 + 39.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.761ms + 40.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352491 ms (missed cycles : 2). + 40.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352491 ms (missed cycles : 2).[0m ×2 + 41.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999560 ms (missed cycles : 2). + 41.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999560 ms (missed cycles : 2).[0m ×2 + 41.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 42.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266074 ms (missed cycles : 4). + 42.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266074 ms (missed cycles : 4).[0m ×2 + 43.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905950 ms (missed cycles : 2). + 43.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905950 ms (missed cycles : 2).[0m ×2 + 44.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491372 ms (missed cycles : 2). + 44.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491372 ms (missed cycles : 2).[0m ×2 + 44.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 45.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875568 ms (missed cycles : 3). + 45.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875568 ms (missed cycles : 3).[0m ×2 + 46.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555042 ms (missed cycles : 3). + 46.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555042 ms (missed cycles : 3).[0m ×2 + 47.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 47.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659957 ms (missed cycles : 4). + 47.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659957 ms (missed cycles : 4).[0m ×2 + 48.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871469 ms (missed cycles : 2). + 48.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871469 ms (missed cycles : 2).[0m ×2 + 49.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593503 ms (missed cycles : 3). + 49.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593503 ms (missed cycles : 3).[0m ×2 + 50.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835786 ms (missed cycles : 2). + 50.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835786 ms (missed cycles : 2).[0m ×2 + 51.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.668ms + 51.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028526 ms (missed cycles : 2). + 51.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028526 ms (missed cycles : 2).[0m ×2 + 53.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309767 ms (missed cycles : 2). + 53.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309767 ms (missed cycles : 2).[0m ×2 + 54.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651994 ms (missed cycles : 2). + 54.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651994 ms (missed cycles : 2).[0m ×2 + 55.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161403 ms (missed cycles : 2). + 55.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161403 ms (missed cycles : 2).[0m ×2 + 55.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.679ms + 56.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599137 ms (missed cycles : 2). + 56.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599137 ms (missed cycles : 2).[0m ×2 + 57.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195597 ms (missed cycles : 3). + 57.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195597 ms (missed cycles : 3).[0m ×2 + 58.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796035 ms (missed cycles : 4). + 58.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796035 ms (missed cycles : 4).[0m ×2 + 59.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.656ms + 59.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014728 ms (missed cycles : 7). + 59.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014728 ms (missed cycles : 7).[0m ×2 + 60.09sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783715531.64897943 seconds ×3 + 60.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.192ms + 60.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.977ms + 60.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319323 ms (missed cycles : 3). + 60.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319323 ms (missed cycles : 3).[0m ×2 + 60.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.604ms + 60.65sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783715532.20253062 seconds. ×3 + 60.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.618ms + 60.95sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 60.96sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869744 ms (missed cycles : 3). + 61.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869744 ms (missed cycles : 3).[0m ×2 + 62.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048286 ms (missed cycles : 5). + 62.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048286 ms (missed cycles : 5).[0m ×2 + 62.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.876ms + 63.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308320 ms (missed cycles : 3). + 63.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308320 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 54.8s | 177 warnings · 145 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.697ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.00sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783715741.88111663 seconds ×3 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.850ms + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.060ms + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783715742.43824720 seconds. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.219ms + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.171ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.601ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.324ms + 4.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.98sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.98sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.319ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.538ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.683ms + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.469ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015529 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015529 ms (missed cycles : 2).[0m ×2 + 7.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.361ms + 8.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.853ms + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.721345 ms (missed cycles : 5). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.721345 ms (missed cycles : 5).[0m ×2 + 8.61sINFOamclParticle filter update iteration stats: 4528 particles 723 points - 5.964ms + 9.11sINFOamclParticle filter update iteration stats: 2982 particles 723 points - 4.295ms + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637766 ms (missed cycles : 4). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637766 ms (missed cycles : 4).[0m ×2 + 9.59sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 2.733ms + 10.10sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 2.313ms + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189800 ms (missed cycles : 4). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189800 ms (missed cycles : 4).[0m ×2 + 10.59sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 1.976ms + 11.10sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 1.502ms + 11.59sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.133ms + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567347 ms (missed cycles : 4). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567347 ms (missed cycles : 4).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.153ms + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.139ms + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.125187 ms (missed cycles : 6). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.125187 ms (missed cycles : 6).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.787ms + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238591 ms (missed cycles : 2). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238591 ms (missed cycles : 2).[0m ×2 + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms ×2 + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028020 ms (missed cycles : 4). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028020 ms (missed cycles : 4).[0m ×2 + 15.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.775ms + 15.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032936 ms (missed cycles : 4). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032936 ms (missed cycles : 4).[0m ×2 + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445071 ms (missed cycles : 3). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445071 ms (missed cycles : 3).[0m ×2 + 17.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.725ms ×2 + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424738 ms (missed cycles : 3). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424738 ms (missed cycles : 3).[0m ×2 + 18.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133309 ms (missed cycles : 5). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133309 ms (missed cycles : 5).[0m ×2 + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092347 ms (missed cycles : 4). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092347 ms (missed cycles : 4).[0m ×2 + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.672ms + 20.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 20.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802209 ms (missed cycles : 2). + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802209 ms (missed cycles : 2).[0m ×2 + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.684ms ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340415 ms (missed cycles : 2). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340415 ms (missed cycles : 2).[0m ×2 + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.692ms + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 23.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325124 ms (missed cycles : 2). + 23.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325124 ms (missed cycles : 2).[0m ×2 + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.707ms + 24.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622349 ms (missed cycles : 2). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622349 ms (missed cycles : 2).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 25.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337235 ms (missed cycles : 3). + 25.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337235 ms (missed cycles : 3).[0m ×2 + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.777ms + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 26.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms ×2 + 26.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727817 ms (missed cycles : 3). + 26.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727817 ms (missed cycles : 3).[0m ×2 + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.710ms + 27.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.098293 ms (missed cycles : 7). + 27.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.098293 ms (missed cycles : 7).[0m ×2 + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.676ms + 28.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 28.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543876 ms (missed cycles : 3). + 28.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543876 ms (missed cycles : 3).[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 29.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823732 ms (missed cycles : 3). + 29.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823732 ms (missed cycles : 3).[0m ×2 + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.726ms + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.762ms + 30.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812059 ms (missed cycles : 2). + 30.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812059 ms (missed cycles : 2).[0m ×2 + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 31.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868350 ms (missed cycles : 2). + 31.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868350 ms (missed cycles : 2).[0m ×2 + 32.24sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156376 ms (missed cycles : 4). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156376 ms (missed cycles : 4).[0m ×2 + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.487103 ms (missed cycles : 4). + 33.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.487103 ms (missed cycles : 4).[0m ×2 + 34.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082576 ms (missed cycles : 3). + 34.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082576 ms (missed cycles : 3).[0m ×2 + 35.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178707 ms (missed cycles : 2). + 35.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178707 ms (missed cycles : 2).[0m ×2 + 36.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045170 ms (missed cycles : 3). + 36.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045170 ms (missed cycles : 3).[0m ×2 + 37.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311293 ms (missed cycles : 2). + 37.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311293 ms (missed cycles : 2).[0m ×2 + 38.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866849 ms (missed cycles : 2). + 38.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866849 ms (missed cycles : 2).[0m ×2 + 39.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.109544 ms (missed cycles : 7). + 39.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.109544 ms (missed cycles : 7).[0m ×2 + 40.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.768ms + 40.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.121665 ms (missed cycles : 4). + 40.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.121665 ms (missed cycles : 4).[0m ×2 + 41.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415296 ms (missed cycles : 2). + 41.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415296 ms (missed cycles : 2).[0m ×2 + 42.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836523 ms (missed cycles : 2). + 42.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836523 ms (missed cycles : 2).[0m ×2 + 43.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886874 ms (missed cycles : 2). + 43.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886874 ms (missed cycles : 2).[0m ×2 + 45.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072138 ms (missed cycles : 4). + 45.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072138 ms (missed cycles : 4).[0m ×2 + 46.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.717ms + 46.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084613 ms (missed cycles : 2). + 46.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084613 ms (missed cycles : 2).[0m ×2 + 46.42sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020435 ms (missed cycles : 3). + 47.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020435 ms (missed cycles : 3).[0m ×2 + 48.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776620 ms (missed cycles : 3). + 48.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776620 ms (missed cycles : 3).[0m ×2 + 48.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 49.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821884 ms (missed cycles : 2). + 49.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821884 ms (missed cycles : 2).[0m ×2 + 50.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304345 ms (missed cycles : 4). + 50.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304345 ms (missed cycles : 4).[0m ×2 + 51.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065217 ms (missed cycles : 4). + 51.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065217 ms (missed cycles : 4).[0m ×2 + 52.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.392805 ms (missed cycles : 7). + 52.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.392805 ms (missed cycles : 7).[0m ×2 + 53.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.724ms + 53.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688542 ms (missed cycles : 2). + 53.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688542 ms (missed cycles : 2).[0m ×2 + 54.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870065 ms (missed cycles : 2). + 54.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870065 ms (missed cycles : 2).[0m ×2 + 55.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246359 ms (missed cycles : 2). + 55.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246359 ms (missed cycles : 2).[0m ×2 + 56.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 56.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714630 ms (missed cycles : 2). + 56.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714630 ms (missed cycles : 2).[0m ×2 + 57.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190786 ms (missed cycles : 4). + 57.85sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1783715796.72991657 seconds ×3 + 57.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190786 ms (missed cycles : 4).[0m ×2 + 58.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.427ms + 58.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.967ms + 58.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1783715797.28332973 seconds. ×3 + 58.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.238ms + 58.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 58.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952717 ms (missed cycles : 3). + 58.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952717 ms (missed cycles : 3).[0m ×2 + 59.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590478 ms (missed cycles : 3). + 59.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590478 ms (missed cycles : 3).[0m ×2 + 60.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.110ms + 61.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338225 ms (missed cycles : 6). + 61.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338225 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.3s | 141 warnings · 152 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 0.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.15sINFOmove_groupClearing octomap...[0m ×2 + 1.15sINFOmove_groupOctomap cleared.[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 3.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 4.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 4.89sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.89sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.89sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940095 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940095 ms (missed cycles : 3).[0m ×2 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594705 ms (missed cycles : 3). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594705 ms (missed cycles : 3).[0m ×2 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658007 ms (missed cycles : 2). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658007 ms (missed cycles : 2).[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715137 ms (missed cycles : 2). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715137 ms (missed cycles : 2).[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573090 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573090 ms (missed cycles : 2).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490984 ms (missed cycles : 3). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490984 ms (missed cycles : 3).[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101987 ms (missed cycles : 4). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101987 ms (missed cycles : 4).[0m ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157526 ms (missed cycles : 4). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157526 ms (missed cycles : 4).[0m ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625062 ms (missed cycles : 2). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625062 ms (missed cycles : 2).[0m ×2 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294618 ms (missed cycles : 4). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294618 ms (missed cycles : 4).[0m ×2 + 17.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804040 ms (missed cycles : 2). + 17.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804040 ms (missed cycles : 2).[0m ×2 + 18.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345396 ms (missed cycles : 4). + 18.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345396 ms (missed cycles : 4).[0m ×2 + 19.30sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 1.884ms + 19.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004934 ms (missed cycles : 4). + 19.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004934 ms (missed cycles : 4).[0m ×2 + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668252 ms (missed cycles : 3). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668252 ms (missed cycles : 3).[0m ×2 + 21.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255724 ms (missed cycles : 2). + 21.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255724 ms (missed cycles : 2).[0m ×2 + 23.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247650 ms (missed cycles : 3). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247650 ms (missed cycles : 3).[0m ×2 + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014620 ms (missed cycles : 2). + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014620 ms (missed cycles : 2).[0m ×2 + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058237 ms (missed cycles : 4). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058237 ms (missed cycles : 4).[0m ×2 + 26.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250257 ms (missed cycles : 3). + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250257 ms (missed cycles : 3).[0m ×2 + 27.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103791 ms (missed cycles : 3). + 27.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103791 ms (missed cycles : 3).[0m ×2 + 28.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904868 ms (missed cycles : 4). + 28.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904868 ms (missed cycles : 4).[0m ×2 + 29.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964499 ms (missed cycles : 3). + 29.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964499 ms (missed cycles : 3).[0m ×2 + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250589 ms (missed cycles : 2). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250589 ms (missed cycles : 2).[0m ×2 + 31.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462351 ms (missed cycles : 3). + 31.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462351 ms (missed cycles : 3).[0m ×2 + 32.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553707 ms (missed cycles : 4). + 32.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553707 ms (missed cycles : 4).[0m ×2 + 33.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781834 ms (missed cycles : 2). + 33.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781834 ms (missed cycles : 2).[0m ×2 + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063186 ms (missed cycles : 4). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063186 ms (missed cycles : 4).[0m ×2 + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.632051 ms (missed cycles : 4). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.632051 ms (missed cycles : 4).[0m ×2 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805726 ms (missed cycles : 3). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805726 ms (missed cycles : 3).[0m ×2 + 38.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250338 ms (missed cycles : 2). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250338 ms (missed cycles : 2).[0m ×2 + 39.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435533 ms (missed cycles : 3). + 39.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435533 ms (missed cycles : 3).[0m ×2 + 40.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898091 ms (missed cycles : 4). + 40.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898091 ms (missed cycles : 4).[0m ×2 + 41.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516814 ms (missed cycles : 3). + 41.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516814 ms (missed cycles : 3).[0m ×2 + 42.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889322 ms (missed cycles : 3). + 42.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889322 ms (missed cycles : 3).[0m ×2 + 43.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633651 ms (missed cycles : 4). + 43.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633651 ms (missed cycles : 4).[0m ×2 + 44.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714247 ms (missed cycles : 2). + 44.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714247 ms (missed cycles : 2).[0m ×2 + 45.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432821 ms (missed cycles : 4). + 45.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432821 ms (missed cycles : 4).[0m ×2 + 46.25sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 46.25sINFOros2_control_nodeGoal reached, success![0m ×4 + 46.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128013 ms (missed cycles : 4). + 46.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128013 ms (missed cycles : 4).[0m ×2 + 46.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783715471.57545233 seconds ×3 + 46.84sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783715472.11648417 seconds. ×3 + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943485 ms (missed cycles : 3). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943485 ms (missed cycles : 3).[0m ×2 + 47.62sINFOobjective_server_nodeFound path in 0 iterations (2.5891e-05 s). ×2 + 47.62sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 47.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301021 ms (missed cycles : 2). + 48.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301021 ms (missed cycles : 2).[0m ×2 + 49.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040799 ms (missed cycles : 2). + 49.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040799 ms (missed cycles : 2).[0m ×2 + 49.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783715475.02660751 seconds ×3 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.6s | 108 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048286 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048286 ms (missed cycles : 5).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.876ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308320 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308320 ms (missed cycles : 3).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.111ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144988 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144988 ms (missed cycles : 3).[0m ×2 + 2.09sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.09sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.13sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1783715536.18268490 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449887 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449887 ms (missed cycles : 3).[0m ×2 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.68sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1783715537.73199391 seconds. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270483 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270483 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638789 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638789 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.29sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.29sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.29sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969715 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969715 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695929 ms (missed cycles : 5). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695929 ms (missed cycles : 5).[0m ×2 + 7.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.548ms + 8.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.600ms + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069635 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069635 ms (missed cycles : 2).[0m ×2 + 8.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.790ms + 9.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.151ms + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652662 ms (missed cycles : 2). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652662 ms (missed cycles : 2).[0m ×2 + 9.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.605ms + 10.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.976ms + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999581 ms (missed cycles : 4). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999581 ms (missed cycles : 4).[0m ×2 + 10.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.315ms + 11.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.002ms + 11.24sINFOros2_control_nodeMuJoCo sim: 0.11% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418453 ms (missed cycles : 2). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418453 ms (missed cycles : 2).[0m ×2 + 11.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.541ms + 12.03sINFOamclParticle filter update iteration stats: 4104 particles 723 points - 4.019ms + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381197 ms (missed cycles : 4). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381197 ms (missed cycles : 4).[0m ×2 + 12.53sINFOamclParticle filter update iteration stats: 3721 particles 723 points - 5.729ms + 13.04sINFOamclParticle filter update iteration stats: 2847 particles 723 points - 4.262ms + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517409 ms (missed cycles : 3). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517409 ms (missed cycles : 3).[0m ×2 + 13.53sINFOamclParticle filter update iteration stats: 2575 particles 723 points - 2.501ms + 14.02sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 2.572ms + 14.53sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 1.783ms + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819553 ms (missed cycles : 3). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819553 ms (missed cycles : 3).[0m ×2 + 15.03sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 1.543ms + 15.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312567 ms (missed cycles : 2). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312567 ms (missed cycles : 2).[0m ×2 + 16.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 16.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142334 ms (missed cycles : 2). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142334 ms (missed cycles : 2).[0m ×2 + 17.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.761ms + 17.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.821ms ×2 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994691 ms (missed cycles : 3). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994691 ms (missed cycles : 3).[0m ×2 + 18.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 18.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468409 ms (missed cycles : 3). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468409 ms (missed cycles : 3).[0m ×2 + 19.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 19.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174404 ms (missed cycles : 2). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174404 ms (missed cycles : 2).[0m ×2 + 20.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 20.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351193 ms (missed cycles : 4). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351193 ms (missed cycles : 4).[0m ×2 + 21.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 21.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 22.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 22.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056657 ms (missed cycles : 4). + 22.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056657 ms (missed cycles : 4).[0m ×2 + 22.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.768ms + 23.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.706ms + 23.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561401 ms (missed cycles : 3). + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561401 ms (missed cycles : 3).[0m ×2 + 23.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 24.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 24.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299991 ms (missed cycles : 3). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299991 ms (missed cycles : 3).[0m ×2 + 24.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.746ms + 25.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 25.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107612 ms (missed cycles : 2). + 25.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107612 ms (missed cycles : 2).[0m ×2 + 25.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 26.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.697ms + 26.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535717 ms (missed cycles : 3). + 26.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535717 ms (missed cycles : 3).[0m ×2 + 26.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.658ms + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799538 ms (missed cycles : 4). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799538 ms (missed cycles : 4).[0m ×2 + 27.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 28.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.673ms + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523716 ms (missed cycles : 3). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523716 ms (missed cycles : 3).[0m ×2 + 28.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 29.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388601 ms (missed cycles : 3). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388601 ms (missed cycles : 3).[0m ×2 + 29.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 30.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.688ms + 30.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272428 ms (missed cycles : 3). + 30.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272428 ms (missed cycles : 3).[0m ×2 + 30.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 31.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms + 31.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159729 ms (missed cycles : 5). + 31.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159729 ms (missed cycles : 5).[0m ×2 + 31.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 32.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 32.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597257 ms (missed cycles : 4). + 32.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597257 ms (missed cycles : 4).[0m ×2 + 33.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164261 ms (missed cycles : 4). + 33.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164261 ms (missed cycles : 4).[0m ×2 + 33.69sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783715567.74213219 seconds ×3 + 33.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.774ms + 33.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.869ms + 34.24sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783715568.28951645 seconds. ×3 + 34.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.672ms + 34.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.556ms + 34.54sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356994 ms (missed cycles : 4). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356994 ms (missed cycles : 4).[0m ×2 + 34.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.604ms + 35.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.221ms + 35.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.199ms + 35.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237991 ms (missed cycles : 2). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237991 ms (missed cycles : 2).[0m ×2 + 36.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.501ms + 36.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.231ms + 36.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401179 ms (missed cycles : 4). + 36.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401179 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.5s | 57 warnings · 132 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870065 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870065 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246359 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246359 ms (missed cycles : 2).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714630 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714630 ms (missed cycles : 2).[0m ×2 + 3.12sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.12sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190786 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1783715796.72991657 seconds ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190786 ms (missed cycles : 4).[0m ×2 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.427ms + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.967ms + 3.70sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1783715797.28332973 seconds. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.238ms + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.01sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.01sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952717 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952717 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590478 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590478 ms (missed cycles : 3).[0m ×2 + 5.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.110ms + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338225 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338225 ms (missed cycles : 6).[0m ×2 + 7.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.768ms + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736674 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736674 ms (missed cycles : 3).[0m ×2 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.18sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.23sINFOobjective_server_nodeFound path in 0 iterations (6.8e-07 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (7.8e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.45sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158674 ms (missed cycles : 5). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158674 ms (missed cycles : 5).[0m ×2 + 8.62sINFOobjective_server_nodeFound path in 29 iterations (0.0255451 s). ×2 + 8.78sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_____X] ×2 + 8.82sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 9.13sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.17sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 9.42sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746551 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746551 ms (missed cycles : 2).[0m ×2 + 9.63sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537034 ms (missed cycles : 5). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537034 ms (missed cycles : 5).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.296ms + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043646 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043646 ms (missed cycles : 2).[0m ×2 + 12.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.039ms + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240631 ms (missed cycles : 2). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240631 ms (missed cycles : 2).[0m ×2 + 12.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.250ms + 13.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.213ms + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323788 ms (missed cycles : 4). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323788 ms (missed cycles : 4).[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.034ms + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985121 ms (missed cycles : 2). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985121 ms (missed cycles : 2).[0m ×2 + 14.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.951ms + 15.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783715809.20486331 seconds ×3 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813888 ms (missed cycles : 3). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813888 ms (missed cycles : 3).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.922ms + 16.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.191ms + 16.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783715809.78618860 seconds. ×3 + 16.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.20sINFOmove_groupClearing octomap...[0m ×2 + 16.20sINFOmove_groupOctomap cleared.[0m ×2 + 16.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.320ms + 16.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783715810.17632914 seconds ×3 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847701 ms (missed cycles : 2). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847701 ms (missed cycles : 2).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.930ms + 17.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.234ms + 17.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783715810.71799350 seconds. ×3 + 17.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.247ms + 17.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783715811.05822301 seconds ×3 + 17.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.033ms + 17.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692665 ms (missed cycles : 4). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692665 ms (missed cycles : 4).[0m ×2 + 18.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.882ms + 18.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.718ms + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783097 ms (missed cycles : 2). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783097 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 6 errors · 51 warnings · 86 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347105 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347105 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335796 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335796 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972667 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972667 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688715 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688715 ms (missed cycles : 2).[0m ×2 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.470ms + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.775ms + 3.86sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.86sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.86sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.86sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled: Objective execution was halted at time: 1783715658.88370013 seconds ×3 + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.038ms + 3.90sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1783715658.91373491 seconds. ×3 + 3.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.497897 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.497897 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336912 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336912 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________________________________________________________________X] ×2 + 5.90sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.90sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.90sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969081 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969081 ms (missed cycles : 3).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125999 ms (missed cycles : 5). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125999 ms (missed cycles : 5).[0m ×2 + 7.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.950ms + 8.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.709ms + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934473 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934473 ms (missed cycles : 2).[0m ×2 + 8.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.030ms + 9.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.045ms + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990642 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990642 ms (missed cycles : 2).[0m ×2 + 9.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.957ms + 10.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.648ms + 10.28sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598679 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598679 ms (missed cycles : 3).[0m ×2 + 10.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.288ms + 11.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.020ms + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073916 ms (missed cycles : 4). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073916 ms (missed cycles : 4).[0m ×2 + 11.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.495ms + 12.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.401ms + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769023 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769023 ms (missed cycles : 2).[0m ×2 + 12.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.954ms + 13.17sINFOamclParticle filter update iteration stats: 4528 particles 723 points - 5.057ms + 13.67sINFOamclParticle filter update iteration stats: 3783 particles 723 points - 3.752ms + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799816 ms (missed cycles : 5). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799816 ms (missed cycles : 5).[0m ×2 + 14.17sINFOamclParticle filter update iteration stats: 3159 particles 723 points - 3.185ms + 14.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1783715669.21806550 seconds ×3 + 14.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.821ms + 14.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.366ms + 14.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1783715669.76096559 seconds. ×3 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491723 ms (missed cycles : 2). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491723 ms (missed cycles : 2).[0m ×2 + 14.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.808ms + 15.06sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 15.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.704ms + 15.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.574ms + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.281916 ms (missed cycles : 6). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.281916 ms (missed cycles : 6).[0m ×2 + 15.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.968ms + 16.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.263ms + 16.27sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667424 ms (missed cycles : 2). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667424 ms (missed cycles : 2).[0m ×2 + 17.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.956ms + 17.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.368ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.5s | 77 errors · 30 warnings · 389 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.213ms + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323788 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323788 ms (missed cycles : 4).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.034ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985121 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985121 ms (missed cycles : 2).[0m ×2 + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.951ms + 2.29sINFOjoint_trajectory_controllerGoal reached, success! + 2.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783715809.20486331 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813888 ms (missed cycles : 3). + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813888 ms (missed cycles : 3).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.922ms + 2.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.191ms + 2.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783715809.78618860 seconds. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.320ms + 3.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783715810.17632914 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847701 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847701 ms (missed cycles : 2).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.930ms + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.234ms + 3.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783715810.71799350 seconds. ×3 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.247ms + 4.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783715811.05822301 seconds ×3 + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.033ms + 4.40sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692665 ms (missed cycles : 4). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692665 ms (missed cycles : 4).[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.882ms + 5.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.718ms + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783097 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783097 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627061 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627061 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761319 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761319 ms (missed cycles : 3).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936267 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936267 ms (missed cycles : 2).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024363 ms (missed cycles : 4). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024363 ms (missed cycles : 4).[0m ×2 + 9.65sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.65sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.65sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.66sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.66sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.66sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.67sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.67sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.67sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 9.69sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 9.72sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.72sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.72sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.73sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.73sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.73sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.73sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 9.75sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 9.76sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 9.78sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 9.79sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 9.81sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 9.82sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.83sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 9.85sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 9.86sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 9.88sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 9.90sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 9.92sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 9.92sINFOcontroller_managerShutdown request received.... + 9.92sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.92sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.92sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 9.92sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.92sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.92sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 9.92sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 9.92sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 9.92sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 9.92sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 9.92sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 9.92sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.92sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.92sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 9.92sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 9.93sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 9.93sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.93sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.93sINFOcontroller_managerShutting down the controller manager. + 9.93sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.94sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 9.96sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 9.96sINFOweb_video_server-31process has finished cleanly [pid 10481] ×2 + 9.96sERRORmove_group-19process has died [pid 10404, 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_g6d35_ew --params-file /tmp/launch_params_gxlo2a3f --params-file /tmp/launch_params_bxrkg0bz --params-file /tmp/launch_params_q2ecc4j4 --params-file /tmp/launch_params_x6dj0dc4 --params-file /tmp/launch_params_g_s811jm --params-file /tmp/launch_params_cmrhqxra --params-file /tmp/launch_params_905i67el --params-file /tmp/launch_params_6vay9g3p']. ×2 + 9.96sINFOtf2_web_republisher_node-30process has finished cleanly [pid 10480] ×2 + 9.97sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 9.99sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.00sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.01sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.02sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.02sINFOcontroller_serverCleaning up + 10.02sINFOlocal_costmap.local_costmapCleaning up + 10.02sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.02sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.02sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.02sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.02sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.02sINFOui_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 + 10.02sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.02sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.02sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.02sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.02sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.02sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.02sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.02sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.02sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.02sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.02sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.02sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.02sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.02sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.02sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.02sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.02sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.02sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.02sERRORmove_groupStack trace (most recent call last) in thread 10970: ×2 + 10.02sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.02sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff766c9ca63, in __clone ×2 + 10.02sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff766c0faa3, in ×2 + 10.02sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff766ea1db3, in ×2 + 10.03sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7ff7674f61c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.03sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff7672144d0, in rclcpp::Rate::sleep() ×2 + 10.03sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff767167a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.03sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff76712ca71, in ×2 + 10.03sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff766e70390, in __cxa_throw ×2 + 10.03sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff766e5aa54, in std::terminate() ×2 + 10.03sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff766e700d9, in ×2 + 10.03sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff766e5aff4, in ×2 + 10.03sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff766b9b8fe, in abort ×2 + 10.03sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff766bb827d, in raise ×2 + 10.03sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff766c11b2c, in pthread_kill ×2 + 10.03sERRORmove_groupAborted (Signal sent by tkill() 10404 0) ×2 + 10.03sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.03sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.03sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.03sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.03sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.03sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.03sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.03sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.03sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.03sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.03sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.03sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.03sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.03sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.03sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.03sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.03sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.03sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.03sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.03sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.03sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.03sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.03sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.03sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.03sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.03sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.03sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.03sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 10.03sINFOobjective_server_node[2026-07-10 20:36:56.837] [moveit_pro_license] [info] ×2 + 10.03sINFOobjective_server_node************************************************* ×4 + 10.03sINFOobjective_server_node* MoveIt Pro License ×2 + 10.03sINFOobjective_server_node* Application has successfully terminated ×2 + 10.03sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.03sINFOodom_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 + 10.03sINFOodom_qos_relay.pymain() ×2 + 10.03sINFOodom_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 + 10.03sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.03sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.03sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.03sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.03sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.03sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.03sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.03sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.04sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.04sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.04sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.04sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.04sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.04sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.04sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.04sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.04sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.04sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ac7a5f76a4, in _start ×2 + 10.04sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcf0986228a, in __libc_start_main ×2 + 10.04sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcf098621d0, in ×2 + 10.04sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcf0987fbbd, in exit ×2 + 10.04sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcf0987fa75, in ×2 + 10.04sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fcf09d4e8f5, in spdlog::details::registry::~registry() ×2 + 10.04sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ac7a5f7d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.04sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ac7a5fe315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.04sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ac7a5fd5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.04sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ac7a5f9b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.04sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ac7a5f7d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.04sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcf0a404454, in rclcpp::Node::~Node() ×2 + 10.04sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcf0a3bf515, in ×2 + 10.04sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcf0a402d20, in ×2 + 10.04sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcf0a402c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.04sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcf0a3bf5d9, in ×2 + 10.04sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcf0a3c4161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.04sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fceb9b2bd10]) ×2 + 10.04sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.06sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.06sERRORobjective_server_node_main-24process has died [pid 10454, 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_8__sdjok --params-file /tmp/launch_params_ffnmxylv --params-file /tmp/launch_params_8vjuikn6 --params-file /tmp/launch_params_s7s27n9o --params-file /tmp/launch_params_72p7g2yt --params-file /tmp/launch_params_8kg51aok --params-file /tmp/launch_params_qv73d8ao --params-file /tmp/launch_params_z04xdw06 --params-file /tmp/launch_params_tkjqxrvt']. ×2 + 10.06sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.06sINFOmap_serverDeactivating + 10.06sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.06sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 10.07sINFOmap_serverCleaning up + 10.07sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.07sINFOsmoother_serverCleaning up + 10.08sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.08sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.08sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.08sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.08sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.10sERRORamclThe bond connection to the lifecycle manager has been broken + 10.11sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.11sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.11sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.11sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.11sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.11sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.11sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.11sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.11sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.14sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.14sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.14sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.64sERRORcomponent_container_isolated-1process has died [pid 10302, 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_2cox95qc --params-file /tmp/launch_params_lq92xgsi -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 10.87sINFOexecute_objective_bridge-27process has finished cleanly [pid 10472] ×2 + 10.87sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 10451] ×2 + 10.88sERRORui_teleop_bridge-28process has died [pid 10474, 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_asp0d4mc']. ×2 + 10.89sINFOcomponent_container_mt-26process has finished cleanly [pid 10471] ×2 + 10.89sINFOmove_joint_resampler_node-22process has finished cleanly [pid 10407] ×2 + 10.94sINFOparameter_manager_node-20process has finished cleanly [pid 10405] ×2 + 10.96sINFOwaypoint_manager_node-21process has finished cleanly [pid 10406] ×2 + 10.99sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10307] ×2 + 10.99sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 10306] ×2 + 11.03sINFOstatic_transform_publisher-3process has finished cleanly [pid 10304] ×2 + 11.04sINFOstatic_transform_publisher-2process has finished cleanly [pid 10303] ×2 + 11.07sERRORodom_qos_relay.py-4process has died [pid 10305, 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 + 12.00sINFOcomponent_container_mt-25process has finished cleanly [pid 10465] ×2 + 12.37sINFOweb_bridge-29process has finished cleanly [pid 10475] ×2 + 12.37sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 12.67sINFOros2_control_node-7process has finished cleanly [pid 10308] ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.5s | 36 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195597 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195597 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796035 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796035 ms (missed cycles : 4).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.656ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014728 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014728 ms (missed cycles : 7).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.79sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783715531.64897943 seconds ×3 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.192ms + 3.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.977ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319323 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319323 ms (missed cycles : 3).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.604ms + 3.38sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783715532.20253062 seconds. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.618ms + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.71sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.71sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.71sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.71sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869744 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869744 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048286 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048286 ms (missed cycles : 5).[0m ×2 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.876ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308320 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308320 ms (missed cycles : 3).[0m ×2 + 6.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.111ms + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144988 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144988 ms (missed cycles : 3).[0m ×2 + 7.36sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1783715536.18268490 seconds ×3 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449887 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449887 ms (missed cycles : 3).[0m ×2 + 8.91sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1783715537.73199391 seconds. ×3 + 9.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270483 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270483 ms (missed cycles : 2).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638789 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638789 ms (missed cycles : 2).[0m ×2 + 10.47sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969715 ms (missed cycles : 3). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969715 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.4s | 30 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633651 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633651 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714247 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714247 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432821 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432821 ms (missed cycles : 4).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.13sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128013 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128013 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783715471.57545233 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783715472.11648417 seconds. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943485 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943485 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.5891e-05 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.52sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.52sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.52sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301021 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301021 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040799 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040799 ms (missed cycles : 2).[0m ×2 + 6.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783715475.02660751 seconds ×3 + 7.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1783715475.57884455 seconds. ×3 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728621 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728621 ms (missed cycles : 2).[0m ×2 + 7.46sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883154 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883154 ms (missed cycles : 2).[0m ×2 + 8.70sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792412 ms (missed cycles : 3). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792412 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.0s | 24 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.039ms + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240631 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240631 ms (missed cycles : 2).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.250ms + 1.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.213ms + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323788 ms (missed cycles : 4). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323788 ms (missed cycles : 4).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.034ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985121 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985121 ms (missed cycles : 2).[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.951ms + 3.50sINFOjoint_trajectory_controllerGoal reached, success! + 3.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783715809.20486331 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813888 ms (missed cycles : 3). + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813888 ms (missed cycles : 3).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.922ms + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.191ms + 4.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783715809.78618860 seconds. ×3 + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.11sINFOmove_groupClearing octomap...[0m ×2 + 4.11sINFOmove_groupOctomap cleared.[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.320ms + 4.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783715810.17632914 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847701 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847701 ms (missed cycles : 2).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.930ms + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.234ms + 5.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783715810.71799350 seconds. ×3 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.247ms + 5.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783715811.05822301 seconds ×3 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.033ms + 5.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692665 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692665 ms (missed cycles : 4).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.882ms + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.718ms + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783097 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783097 ms (missed cycles : 2).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627061 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627061 ms (missed cycles : 3).[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 4.195597 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195597 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796035 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796035 ms (missed cycles : 4).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.656ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014728 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014728 ms (missed cycles : 7).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783715531.64897943 seconds ×3 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.192ms + 3.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.977ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319323 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319323 ms (missed cycles : 3).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.604ms + 3.38sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783715532.20253062 seconds. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.618ms + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.71sINFOjoint_trajectory_controllerReceived new action goal + 3.71sINFOjoint_trajectory_controllerAccepted new action goal + 3.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869744 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869744 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048286 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048286 ms (missed cycles : 5).[0m ×2 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.876ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308320 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308320 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.039ms + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240631 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240631 ms (missed cycles : 2).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.250ms + 1.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.213ms + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323788 ms (missed cycles : 4). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323788 ms (missed cycles : 4).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.034ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985121 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985121 ms (missed cycles : 2).[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.951ms + 3.50sINFOjoint_trajectory_controllerGoal reached, success! + 3.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783715809.20486331 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813888 ms (missed cycles : 3). + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813888 ms (missed cycles : 3).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.922ms + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.191ms + 4.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783715809.78618860 seconds. ×3 + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.11sINFOmove_groupClearing octomap...[0m ×2 + 4.11sINFOmove_groupOctomap cleared.[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.320ms + 4.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783715810.17632914 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847701 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847701 ms (missed cycles : 2).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.930ms + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.234ms + 5.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783715810.71799350 seconds. ×3 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.247ms + 5.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783715811.05822301 seconds ×3 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.033ms + 5.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692665 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692665 ms (missed cycles : 4).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.882ms + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.718ms + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783097 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783097 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 0.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.15sINFOmove_groupClearing octomap...[0m ×2 + 1.15sINFOmove_groupOctomap cleared.[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 3.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 4.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 4.89sINFOjoint_trajectory_controllerReceived new action goal + 4.89sINFOjoint_trajectory_controllerAccepted new action goal + 4.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633651 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633651 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714247 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714247 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432821 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432821 ms (missed cycles : 4).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.13sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128013 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128013 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783715471.57545233 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783715472.11648417 seconds. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943485 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943485 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.5891e-05 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301021 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301021 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040799 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040799 ms (missed cycles : 2).[0m ×2 + 6.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783715475.02660751 seconds ×3 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633651 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633651 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714247 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714247 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432821 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432821 ms (missed cycles : 4).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.13sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128013 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128013 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783715471.57545233 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783715472.11648417 seconds. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943485 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943485 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.5891e-05 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301021 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301021 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040799 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040799 ms (missed cycles : 2).[0m ×2 + 6.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783715475.02660751 seconds ×3 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 4.70sINFOobjective_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 + 4.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 55 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128013 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128013 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783715471.57545233 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783715472.11648417 seconds. ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943485 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943485 ms (missed cycles : 3).[0m ×2 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (2.5891e-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 + 1.36sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.36sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.37sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301021 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301021 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040799 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040799 ms (missed cycles : 2).[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: 1783715475.02660751 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1783715475.57884455 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728621 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728621 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883154 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883154 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792412 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792412 ms (missed cycles : 3).[0m ×2 | ||||
| − 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 4.195597 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195597 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796035 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796035 ms (missed cycles : 4).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.656ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014728 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014728 ms (missed cycles : 7).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783715531.64897943 seconds ×3 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.192ms + 3.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.977ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319323 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319323 ms (missed cycles : 3).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.604ms + 3.38sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783715532.20253062 seconds. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.618ms + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.71sINFOjoint_trajectory_controllerReceived new action goal + 3.71sINFOjoint_trajectory_controllerAccepted new action goal + 3.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869744 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869744 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048286 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048286 ms (missed cycles : 5).[0m ×2 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.876ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308320 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308320 ms (missed cycles : 3).[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 4.195597 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195597 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796035 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796035 ms (missed cycles : 4).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.656ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014728 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014728 ms (missed cycles : 7).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783715531.64897943 seconds ×3 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.192ms + 3.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.977ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319323 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319323 ms (missed cycles : 3).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.604ms + 3.38sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783715532.20253062 seconds. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.618ms + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.71sINFOjoint_trajectory_controllerReceived new action goal + 3.71sINFOjoint_trajectory_controllerAccepted new action goal + 3.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869744 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869744 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048286 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048286 ms (missed cycles : 5).[0m ×2 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.876ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308320 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308320 ms (missed cycles : 3).[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 4.195597 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195597 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796035 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796035 ms (missed cycles : 4).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.656ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014728 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014728 ms (missed cycles : 7).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783715531.64897943 seconds ×3 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.192ms + 3.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.977ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319323 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319323 ms (missed cycles : 3).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.604ms + 3.38sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783715532.20253062 seconds. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.618ms + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.71sINFOjoint_trajectory_controllerReceived new action goal + 3.71sINFOjoint_trajectory_controllerAccepted new action goal + 3.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869744 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869744 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048286 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048286 ms (missed cycles : 5).[0m ×2 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.876ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308320 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308320 ms (missed cycles : 3).[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 4.195597 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195597 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796035 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796035 ms (missed cycles : 4).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.656ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014728 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014728 ms (missed cycles : 7).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783715531.64897943 seconds ×3 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.192ms + 3.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.977ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319323 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319323 ms (missed cycles : 3).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.604ms + 3.38sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783715532.20253062 seconds. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.618ms + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.71sINFOjoint_trajectory_controllerReceived new action goal + 3.71sINFOjoint_trajectory_controllerAccepted new action goal + 3.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869744 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869744 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048286 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048286 ms (missed cycles : 5).[0m ×2 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.876ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308320 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308320 ms (missed cycles : 3).[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 4.272428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272428 ms (missed cycles : 3).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 0.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159729 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159729 ms (missed cycles : 5).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597257 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597257 ms (missed cycles : 4).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164261 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164261 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783715567.74213219 seconds ×3 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.774ms + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.869ms + 3.76sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783715568.28951645 seconds. ×3 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.672ms + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.556ms + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356994 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356994 ms (missed cycles : 4).[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.604ms + 4.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.221ms + 4.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.199ms + 5.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237991 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237991 ms (missed cycles : 2).[0m ×2 + 5.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.501ms + 6.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.231ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401179 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401179 ms (missed cycles : 4).[0m ×2 | ||||
| − 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 4.272428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272428 ms (missed cycles : 3).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 0.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159729 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159729 ms (missed cycles : 5).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597257 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597257 ms (missed cycles : 4).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164261 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164261 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783715567.74213219 seconds ×3 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.774ms + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.869ms + 3.76sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783715568.28951645 seconds. ×3 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.672ms + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.556ms + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356994 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356994 ms (missed cycles : 4).[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.604ms + 4.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.221ms + 4.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.199ms + 5.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237991 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237991 ms (missed cycles : 2).[0m ×2 + 5.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.501ms + 6.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.231ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401179 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401179 ms (missed cycles : 4).[0m ×2 | ||||
| − 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 4.272428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272428 ms (missed cycles : 3).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 0.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159729 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159729 ms (missed cycles : 5).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597257 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597257 ms (missed cycles : 4).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164261 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164261 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783715567.74213219 seconds ×3 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.774ms + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.869ms + 3.76sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783715568.28951645 seconds. ×3 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.672ms + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.556ms + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356994 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356994 ms (missed cycles : 4).[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.604ms + 4.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.221ms + 4.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.199ms + 5.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237991 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237991 ms (missed cycles : 2).[0m ×2 + 5.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.501ms + 6.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.231ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401179 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401179 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 4.70sINFOobjective_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 + 4.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − 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 - 0.895ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.697ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783715741.88111663 seconds ×3 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.850ms + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.060ms + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783715742.43824720 seconds. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.219ms + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.171ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.601ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.324ms + 4.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.319ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.538ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.683ms + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.469ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.697ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783715741.88111663 seconds ×3 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.850ms + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.060ms + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783715742.43824720 seconds. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.219ms + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.171ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.601ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.324ms + 4.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.319ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.538ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.683ms + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.469ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 4.70sINFOobjective_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 + 4.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − 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 - 0.895ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.697ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783715741.88111663 seconds ×3 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.850ms + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.060ms + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783715742.43824720 seconds. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.219ms + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.171ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.601ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.324ms + 4.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.319ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.538ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.683ms + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.469ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3).[0m ×2 | ||||
| − 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 - 0.895ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.697ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783715741.88111663 seconds ×3 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.850ms + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.060ms + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783715742.43824720 seconds. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.219ms + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.171ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.601ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.324ms + 4.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.319ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.538ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.683ms + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.469ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3).[0m ×2 | ||||
| − 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 - 0.895ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.697ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783715741.88111663 seconds ×3 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.850ms + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.060ms + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783715742.43824720 seconds. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.219ms + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.171ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.601ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.324ms + 4.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.319ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.538ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.683ms + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.469ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3).[0m ×2 | ||||
| − 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 - 0.895ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.697ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783715741.88111663 seconds ×3 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.850ms + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.060ms + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783715742.43824720 seconds. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.219ms + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.171ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.601ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.324ms + 4.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.319ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.538ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.683ms + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.469ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.697ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783715741.88111663 seconds ×3 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.850ms + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.060ms + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783715742.43824720 seconds. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.219ms + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.171ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.601ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.324ms + 4.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.319ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.538ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.683ms + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.469ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876818 ms (missed cycles : 2).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.697ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509573 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862928 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783715741.88111663 seconds ×3 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395634 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.850ms + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.060ms + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783715742.43824720 seconds. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.219ms + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.171ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107431 ms (missed cycles : 5).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.601ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.324ms + 4.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.319ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477965 ms (missed cycles : 3).[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.538ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.683ms + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.469ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187437 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 24.5s | 60 errors · 781 warnings · 1898 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-10-20-22-58-243559-54d4386b8451-9199 + 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 + 8.96sINFOros2_control_node-7process started with pid [9255] + 8.96sINFOmove_group-19process started with pid [9333] + 8.96sINFOparameter_manager_node-20process started with pid [9334] + 8.96sINFOwaypoint_manager_node-21process started with pid [9335] + 8.97sINFOmove_joint_resampler_node-22process started with pid [9336] + 8.97sINFOmove_end_effector_resampler_node-23process started with pid [9378] + 8.97sINFOobjective_server_node_main-24process started with pid [9379] + 8.97sINFOcomponent_container_mt-25process started with pid [9380] + 8.97sINFOcomponent_container_mt-26process started with pid [9381] + 8.97sINFOexecute_objective_bridge-27process started with pid [9383] + 8.97sINFOui_teleop_bridge-28process started with pid [9401] + 8.97sINFOweb_bridge-29process started with pid [9405] + 8.97sINFOtf2_web_republisher_node-30process started with pid [9406] + 8.97sINFOweb_video_server-31process started with pid [9407] + 8.99sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 8.99sINFOcomponent_container_isolated-1process started with pid [9249] + 8.99sINFOstatic_transform_publisher-2process started with pid [9250] + 8.99sINFOstatic_transform_publisher-3process started with pid [9251] + 8.99sINFOodom_qos_relay.py-4process started with pid [9252] + 8.99sINFOscan_to_scan_filter_chain-5process started with pid [9253] + 8.99sINFOscan_to_scan_filter_chain-6process started with pid [9254] + 8.99sINFOros2-8process started with pid [9256] + 9.00sINFOros2-9process started with pid [9323] + 9.00sINFOros2-10process started with pid [9324] + 9.00sINFOros2-11process started with pid [9325] + 9.00sINFOros2-12process started with pid [9326] + 9.00sINFOros2-13process started with pid [9327] + 9.00sINFOros2-14process started with pid [9328] + 9.00sINFOros2-15process started with pid [9329] + 9.00sINFOros2-16process started with pid [9330] + 9.00sINFOros2-17process started with pid [9331] + 9.00sINFOros2-18process started with pid [9332] + 9.06sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 9.06sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 9.06sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 9.06sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 9.06sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 9.07sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 9.07sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 9.07sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 9.07sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 9.07sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 9.07sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 9.07sWARNros2_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 + 9.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981159 ms (missed cycles : 2).[0m + 9.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 9.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×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 + 9.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 9.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 9.23sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 9.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 9.31sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 9.31sINFOcomponent_container_mtRobot initialized[0m ×3 + 9.32sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 9.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 9.34sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 9.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 9.38sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 9.42sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 9.42sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 9.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 9.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 9.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 9.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 9.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 9.48sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 9.48sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 9.48sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 9.48sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 9.48sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×3 + 9.48sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 9.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 9.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 9.59sINFOmove_groupLoaded robot model in 0.325273 seconds[0m + 9.60sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 9.60sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 9.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 9.76sWARNscan_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 + 9.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 9.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 9.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 9.97sINFOwaypoint_manager_nodeLoaded robot model in 0.416108 seconds[0m + 10.00sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 10.00sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653840 ms (missed cycles : 2).[0m + 10.19sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 10.20sWARNmove_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 + 10.20sWARNmove_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 + 10.20sWARNmove_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 + 10.20sWARNmove_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 + 10.20sWARNmove_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 + 10.20sWARNmove_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 + 10.20sWARNmove_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 + 10.20sWARNmove_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 + 10.20sWARNmove_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 + 10.20sWARNmove_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 + 10.74sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×13 + 10.77sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 10.77sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 10.77sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 10.77sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 10.77sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 10.78sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 10.78sINFOmove_groupStarting planning scene monitor[0m ×3 + 10.78sINFOmove_groupListening to '/planning_scene'[0m ×3 + 10.78sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 10.79sINFOmove_groupListening to 'collision_object'[0m ×3 + 10.79sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 10.85sWARNwaypoint_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 + 10.85sWARNwaypoint_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 + 10.85sWARNwaypoint_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 + 10.85sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 10.85sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 10.85sWARNwaypoint_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 + 10.86sWARNwaypoint_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 + 10.86sWARNwaypoint_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 + 10.86sWARNwaypoint_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 + 10.86sWARNwaypoint_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 + 10.86sWARNwaypoint_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 + 10.87sWARNwaypoint_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 + 10.87sWARNwaypoint_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 + 10.87sWARNwaypoint_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 + 10.87sWARNwaypoint_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 + 10.87sWARNwaypoint_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 + 10.87sWARNwaypoint_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 + 10.87sWARNwaypoint_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 + 10.89sWARNwaypoint_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 + 10.89sWARNwaypoint_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 + 10.89sWARNwaypoint_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 + 10.89sWARNwaypoint_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 + 10.90sWARNwaypoint_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 + 10.90sWARNwaypoint_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 + 10.90sWARNwaypoint_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 + 10.90sWARNwaypoint_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 + 10.91sWARNwaypoint_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 + 10.91sWARNwaypoint_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 + 10.91sWARNwaypoint_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 + 10.91sWARNwaypoint_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 + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685766 ms (missed cycles : 2).[0m + 11.34sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 11.34sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 11.35sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 11.60sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 11.60sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 11.60sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 11.60sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 11.60sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 11.60sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 11.60sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 11.60sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 11.60sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 11.60sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 11.60sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 11.60sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 11.60sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 11.61sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 11.61sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 11.61sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 11.61sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 11.61sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 11.61sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 11.61sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 11.63sWARNros2_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 + 11.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 11.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 11.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 11.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 11.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 11.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 11.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 11.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 11.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 11.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 11.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 11.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 11.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 11.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 11.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 11.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 11.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 11.72sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 11.74sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 11.74sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 11.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 11.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 11.78sINFOobjective_server_node[2026-07-10 20:23:12.493] [moveit_pro_license] [info] + 11.78sINFOobjective_server_node************************************************* ×8 + 11.78sINFOobjective_server_node* MoveIt Pro License ×4 + 11.78sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 11.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 11.79sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 11.81sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 11.81sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 11.81sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 11.81sINFOcomponent_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 + 11.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 11.82sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 11.87sINFOobjective_server_nodeLoaded robot model in 0.0240557 seconds[0m + 11.87sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 11.88sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 11.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q22bklu2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_43tmjll2 --params-file /tmp/launch_params_7amsco3d [0m + 11.93sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 11.93sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 11.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 11.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 11.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 11.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 11.97sWARNcomponent_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 + 12.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 12.05sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 12.07sINFOcomponent_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 + 12.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 12.16sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 12.16sWARNobjective_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 + 12.16sWARNobjective_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 + 12.16sWARNobjective_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 + 12.16sWARNobjective_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 + 12.16sWARNobjective_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 + 12.16sWARNobjective_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 + 12.16sWARNobjective_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 + 12.16sWARNobjective_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 + 12.16sWARNobjective_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 + 12.16sWARNobjective_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 + 12.21sINFOros2_control_node[2026-07-10 20:23:12.916] [warning] No force/torque sensor configured. The VFC will ignore force references. + 12.21sINFOros2_control_node[2026-07-10 20:23:12.919] [info] Controller state will be published at 10 Hz. + 12.21sINFOros2_control_node[2026-07-10 20:23:12.920] [info] VelocityForceController 'on_configure' succeeded. + 12.22sINFOobjective_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 + 12.22sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 12.24sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 12.24sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 12.24sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 12.24sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 12.24sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 12.24sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 12.24sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 12.30sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672382 ms (missed cycles : 2).[0m + 12.38sINFOcomponent_container_mtLoaded robot model in 0.412161 seconds[0m + 12.38sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 12.38sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 12.54sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 12.54sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 12.54sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_q22bklu2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_43tmjll2 --params-file /tmp/launch_params_7amsco3d [0m + 12.57sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 12.59sINFOros2-16process has finished cleanly [pid 9330] + 12.60sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 12.60sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 12.60sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 12.61sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 12.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 12.61sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 12.63sWARNcomponent_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 + 12.63sWARNcomponent_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 + 12.63sWARNcomponent_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 + 12.63sWARNcomponent_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 + 12.63sWARNcomponent_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 + 12.63sWARNcomponent_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 + 12.63sWARNcomponent_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 + 12.63sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.64sWARNcomponent_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 + 12.93sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 12.93sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 12.93sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q22bklu2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_43tmjll2 --params-file /tmp/launch_params_7amsco3d [0m + 12.94sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 12.94sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 12.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 12.95sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 12.95sINFOros2-12process has finished cleanly [pid 9326] + 12.99sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 12.99sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 13.00sINFOros2_control_nodeconfigure successful[0m ×9 + 13.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 13.01sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 13.13sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 13.13sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 13.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 13.35sINFOros2-11process has finished cleanly [pid 9325] + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984668 ms (missed cycles : 3).[0m + 13.44sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×3 + 13.49sWARNobjective_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 + 13.50sINFOmove_groupTrajectory execution is managing controllers[0m ×3 + 13.50sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 13.50sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 13.55sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 13.55sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 13.55sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 13.55sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 13.55sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 13.55sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 13.55sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 13.59sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×3 + 13.60sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 13.60sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 13.60sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q22bklu2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_43tmjll2 --params-file /tmp/launch_params_7amsco3d [0m + 13.62sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 13.62sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 13.63sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 13.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 13.64sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 13.68sINFOmove_group ×12 + 13.68sINFOmove_group******************************************************** ×6 + 13.68sINFOmove_group* MoveGroup using: ×3 + 13.68sINFOmove_group* - apply_planning_scene_service ×3 + 13.68sINFOmove_group* - clear_octomap_service ×3 + 13.68sINFOmove_group* - get_group_urdf ×3 + 13.68sINFOmove_group* - load_geometry_from_file ×3 + 13.68sINFOmove_group* - get_planning_scene_service ×3 + 13.68sINFOmove_group* - kinematics_service ×3 + 13.68sINFOmove_group* - save_geometry_to_file ×3 + 13.68sINFOmove_group* - GetPlanningGroups ×3 + 13.68sINFOmove_group* - SetActiveControllerService ×3 + 13.68sINFOmove_group* - URDFPlanningSceneCapability ×3 + 13.68sINFOmove_group[0m ×3 + 13.68sINFOmove_group[92mYou can start planning now![0m ×3 + 13.87sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 13.96sINFOros2-8process has finished cleanly [pid 9256] + 14.22sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 14.22sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 14.31sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q22bklu2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_43tmjll2 --params-file /tmp/launch_params_7amsco3d [0m + 14.33sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 14.34sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346337 ms (missed cycles : 3).[0m + 14.59sINFOros2_control_node[2026-07-10 20:23:15.296] [info] Controller state will be published at 20 Hz. + 14.59sINFOros2_control_node[2026-07-10 20:23:15.297] [info] JointVelocityController 'on_configure' succeeded. + 14.93sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 14.93sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 14.93sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q22bklu2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_43tmjll2 --params-file /tmp/launch_params_7amsco3d [0m + 14.96sINFOros2-18process has finished cleanly [pid 9332] + 14.98sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 14.99sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 14.99sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 14.99sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 15.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 15.30sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 15.31sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_q22bklu2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_43tmjll2 --params-file /tmp/launch_params_7amsco3d [0m + 15.34sINFOros2-9process has finished cleanly [pid 9323] + 15.41sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414517 ms (missed cycles : 5).[0m + 15.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 15.41sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 15.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 15.42sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 15.42sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 15.42sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 15.42sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 15.77sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 15.78sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 15.78sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q22bklu2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_43tmjll2 --params-file /tmp/launch_params_7amsco3d [0m + 15.81sINFOros2-14process has finished cleanly [pid 9328] + 15.84sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 15.84sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 16.11sINFOros2_control_node[2026-07-10 20:23:16.815] [warning] No force/torque sensor configured. The VFC will ignore force references. + 16.11sINFOros2_control_node[2026-07-10 20:23:16.817] [info] Controller state will be published at 10 Hz. + 16.11sINFOros2_control_node[2026-07-10 20:23:16.818] [info] VelocityForceController 'on_configure' succeeded. + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920412 ms (missed cycles : 2).[0m + 16.47sINFOros2-15process has finished cleanly [pid 9329] + 16.50sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 16.50sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 16.50sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q22bklu2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_43tmjll2 --params-file /tmp/launch_params_7amsco3d [0m + 16.52sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 16.52sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 16.80sINFOros2_control_node[2026-07-10 20:23:17.509] [info] Controller state will be published at 20 Hz. + 16.80sINFOros2_control_node[2026-07-10 20:23:17.510] [info] JointVelocityController 'on_configure' succeeded. + 17.15sINFOros2-17process has finished cleanly [pid 9331] + 17.43sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 17.43sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 17.43sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_q22bklu2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_43tmjll2 --params-file /tmp/launch_params_7amsco3d [0m + 17.45sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 17.45sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060876 ms (missed cycles : 4).[0m + 17.76sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 17.76sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 17.76sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q22bklu2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_43tmjll2 --params-file /tmp/launch_params_7amsco3d [0m + 17.78sINFOros2-13process has finished cleanly [pid 9327] + 17.82sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 17.82sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 17.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 17.82sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 17.82sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 17.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 17.83sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 18.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 18.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 18.16sINFOros2-10process has finished cleanly [pid 9324] + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291748 ms (missed cycles : 2).[0m + 19.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395895 ms (missed cycles : 3).[0m + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.349727 ms (missed cycles : 4).[0m + 21.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015900 ms (missed cycles : 2).[0m + 21.64sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×3 + 22.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275382 ms (missed cycles : 2).[0m + 23.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715003.88113523 seconds. + 23.27sINFOmove_groupClearing octomap...[0m ×4 + 23.28sINFOmove_groupOctomap cleared.[0m ×4 + 23.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715003.99135494 seconds + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298386 ms (missed cycles : 2).[0m + 23.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715004.54104257 seconds. + 23.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715004.55116487 seconds + 24.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715005.09786558 seconds. + 24.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715005.24856329 seconds + 24.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938645 ms (missed cycles : 3).[0m + 25.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715005.82030034 seconds. + 25.12sINFOobjective_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 + 25.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 25.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 25.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 25.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715005.87042809 seconds + 25.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715006.41478872 seconds. + 25.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 25.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 25.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 25.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694388 ms (missed cycles : 2).[0m + 26.77sINFOobjective_server_nodePlanning for 177 path waypoints. + 26.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158284 ms (missed cycles : 2).[0m + 27.01sINFOros2_control_nodeReceived new action goal[0m ×17 + 27.01sINFOros2_control_nodeAccepted new action goal[0m ×17 + 27.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512286 ms (missed cycles : 3).[0m + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913050 ms (missed cycles : 3).[0m + 29.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269319 ms (missed cycles : 2).[0m + 30.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403187 ms (missed cycles : 3).[0m + 31.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906355 ms (missed cycles : 3).[0m + 32.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061738 ms (missed cycles : 4).[0m + 33.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554053 ms (missed cycles : 3).[0m + 34.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356593 ms (missed cycles : 3).[0m + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092633 ms (missed cycles : 2).[0m + 36.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379627 ms (missed cycles : 3).[0m + 38.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251812 ms (missed cycles : 4).[0m + 39.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994167 ms (missed cycles : 3).[0m + 40.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382899 ms (missed cycles : 3).[0m + 41.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665698 ms (missed cycles : 4).[0m + 42.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734943 ms (missed cycles : 3).[0m + 43.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096159 ms (missed cycles : 4).[0m + 44.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583599 ms (missed cycles : 3).[0m + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169989 ms (missed cycles : 5).[0m + 46.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760803 ms (missed cycles : 3).[0m + 47.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659838 ms (missed cycles : 3).[0m + 48.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.891115 ms (missed cycles : 5).[0m + 49.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204016 ms (missed cycles : 4).[0m + 50.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003574 ms (missed cycles : 3).[0m + 51.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214126 ms (missed cycles : 4).[0m + 52.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395883 ms (missed cycles : 3).[0m + 53.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587346 ms (missed cycles : 3).[0m + 54.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949198 ms (missed cycles : 3).[0m + 55.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192581 ms (missed cycles : 3).[0m + 56.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912476 ms (missed cycles : 3).[0m + 57.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054968 ms (missed cycles : 2).[0m + 58.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833260 ms (missed cycles : 2).[0m + 59.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126289 ms (missed cycles : 3).[0m + 60.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409018 ms (missed cycles : 3).[0m + 61.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422396 ms (missed cycles : 3).[0m + 62.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063620 ms (missed cycles : 2).[0m + 64.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011281 ms (missed cycles : 2).[0m + 65.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414899 ms (missed cycles : 2).[0m + 66.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683887 ms (missed cycles : 3).[0m + 67.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258594 ms (missed cycles : 2).[0m + 68.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750064 ms (missed cycles : 3).[0m + 68.67sINFOros2_control_nodeGoal reached, success![0m ×15 + 68.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783715049.42647004 seconds + 69.26sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783715049.96701121 seconds. + 69.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469874 ms (missed cycles : 3).[0m + 70.03sINFOobjective_server_nodeFound path in 0 iterations (4.8071e-05 s). + 70.04sINFOobjective_server_nodePath shortcutter: [X____X] + 70.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 70.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944952 ms (missed cycles : 4).[0m + 71.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605578 ms (missed cycles : 3).[0m + 72.17sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783715052.87714291 seconds + 72.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711408 ms (missed cycles : 2).[0m + 72.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1783715053.42325854 seconds. + 73.00sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 73.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.850872 ms (missed cycles : 6).[0m + 74.21sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 74.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017930 ms (missed cycles : 3).[0m + 75.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946965 ms (missed cycles : 3).[0m + 76.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091547 ms (missed cycles : 2).[0m + 77.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615345 ms (missed cycles : 5).[0m + 78.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190363 ms (missed cycles : 4).[0m + 79.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067743 ms (missed cycles : 2).[0m + 80.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734686 ms (missed cycles : 4).[0m + 81.65sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m + 81.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347575 ms (missed cycles : 3).[0m + 82.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308011 ms (missed cycles : 2).[0m + 83.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268023 ms (missed cycles : 3).[0m + 85.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198079 ms (missed cycles : 2).[0m + 86.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285418 ms (missed cycles : 2).[0m + 87.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985118 ms (missed cycles : 3).[0m + 88.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.378890 ms (missed cycles : 9).[0m + 89.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.231356 ms (missed cycles : 7).[0m + 90.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.667615 ms (missed cycles : 5).[0m + 91.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998986 ms (missed cycles : 3).[0m + 92.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154293 ms (missed cycles : 2).[0m + 93.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388107 ms (missed cycles : 2).[0m + 94.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174868 ms (missed cycles : 3).[0m + 95.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648357 ms (missed cycles : 3).[0m + 96.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951417 ms (missed cycles : 3).[0m + 97.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195520 ms (missed cycles : 4).[0m + 98.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512342 ms (missed cycles : 2).[0m + 99.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649171 ms (missed cycles : 4).[0m +100.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950753 ms (missed cycles : 3).[0m +101.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284732 ms (missed cycles : 4).[0m +103.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935552 ms (missed cycles : 2).[0m +103.14sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +104.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453673 ms (missed cycles : 3).[0m +105.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725620 ms (missed cycles : 4).[0m +106.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747654 ms (missed cycles : 2).[0m +107.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487433 ms (missed cycles : 2).[0m +108.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.389585 ms (missed cycles : 6).[0m +109.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229013 ms (missed cycles : 3).[0m +110.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223636 ms (missed cycles : 2).[0m +111.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005431 ms (missed cycles : 4).[0m +112.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065605 ms (missed cycles : 2).[0m +113.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725967 ms (missed cycles : 4).[0m +114.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810502 ms (missed cycles : 2).[0m +115.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453353 ms (missed cycles : 4).[0m +116.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992399 ms (missed cycles : 3).[0m +117.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865389 ms (missed cycles : 5).[0m +118.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431381 ms (missed cycles : 3).[0m +119.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626827 ms (missed cycles : 4).[0m +120.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086346 ms (missed cycles : 2).[0m +121.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036857 ms (missed cycles : 2).[0m +122.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.671982 ms (missed cycles : 5).[0m +123.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204848 ms (missed cycles : 4).[0m +124.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269603 ms (missed cycles : 2).[0m +125.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354107 ms (missed cycles : 2).[0m +127.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696611 ms (missed cycles : 2).[0m +128.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032705 ms (missed cycles : 4).[0m +128.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783715109.44338369 seconds +129.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.569343 ms (missed cycles : 7).[0m +129.30sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783715110.00622940 seconds. +129.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). +129.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +130.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045847 ms (missed cycles : 4).[0m +131.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322496 ms (missed cycles : 5).[0m +132.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390775 ms (missed cycles : 3).[0m +133.28sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1783715113.98636937 seconds +133.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725145 ms (missed cycles : 5).[0m +134.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158869 ms (missed cycles : 2).[0m +134.83sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1783715115.53613472 seconds. +135.12sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 +135.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957236 ms (missed cycles : 3).[0m +136.18sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +136.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971741 ms (missed cycles : 3).[0m +137.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472661 ms (missed cycles : 2).[0m +138.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200837 ms (missed cycles : 2).[0m +139.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023443 ms (missed cycles : 2).[0m +140.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506442 ms (missed cycles : 3).[0m +141.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412082 ms (missed cycles : 2).[0m +141.65sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +142.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276229 ms (missed cycles : 2).[0m +143.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020695 ms (missed cycles : 2).[0m +144.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451577 ms (missed cycles : 3).[0m +145.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258115 ms (missed cycles : 2).[0m +146.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885727 ms (missed cycles : 2).[0m +147.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732215 ms (missed cycles : 2).[0m +148.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325569 ms (missed cycles : 5).[0m +149.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403908 ms (missed cycles : 3).[0m +151.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877842 ms (missed cycles : 2).[0m +152.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601365 ms (missed cycles : 3).[0m +153.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600990 ms (missed cycles : 3).[0m +154.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221554 ms (missed cycles : 6).[0m +155.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669505 ms (missed cycles : 2).[0m +156.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867931 ms (missed cycles : 2).[0m +157.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.643468 ms (missed cycles : 6).[0m +158.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961505 ms (missed cycles : 5).[0m +159.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985733 ms (missed cycles : 3).[0m +160.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750754 ms (missed cycles : 3).[0m +161.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557256 ms (missed cycles : 3).[0m +162.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790303 ms (missed cycles : 5).[0m +163.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201376 ms (missed cycles : 2).[0m +164.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112475 ms (missed cycles : 3).[0m +164.64sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783715145.34735656 seconds +165.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783715145.89128256 seconds. +165.48sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). +165.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911912 ms (missed cycles : 2).[0m +166.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +166.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487928 ms (missed cycles : 3).[0m +167.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676593 ms (missed cycles : 5).[0m +169.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039041 ms (missed cycles : 2).[0m +170.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832995 ms (missed cycles : 2).[0m +171.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066176 ms (missed cycles : 5).[0m +172.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510706 ms (missed cycles : 3).[0m +173.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452078 ms (missed cycles : 2).[0m +174.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703848 ms (missed cycles : 5).[0m +175.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950945 ms (missed cycles : 2).[0m +176.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629908 ms (missed cycles : 2).[0m +177.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774482 ms (missed cycles : 5).[0m +178.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653888 ms (missed cycles : 3).[0m +179.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495689 ms (missed cycles : 2).[0m +180.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385194 ms (missed cycles : 4).[0m +181.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448570 ms (missed cycles : 3).[0m +182.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697525 ms (missed cycles : 2).[0m +183.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086282 ms (missed cycles : 2).[0m +184.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857028 ms (missed cycles : 5).[0m +185.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453258 ms (missed cycles : 2).[0m +186.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819770 ms (missed cycles : 2).[0m +187.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628312 ms (missed cycles : 3).[0m +189.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423775 ms (missed cycles : 3).[0m +190.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.536919 ms (missed cycles : 4).[0m +191.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572372 ms (missed cycles : 3).[0m +192.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028367 ms (missed cycles : 2).[0m +193.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526871 ms (missed cycles : 4).[0m +194.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071556 ms (missed cycles : 4).[0m +195.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379623 ms (missed cycles : 3).[0m +195.78sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +196.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255063 ms (missed cycles : 2).[0m +196.47sINFOobjective_server_nodePlanning for 55 path waypoints. +197.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245244 ms (missed cycles : 2).[0m +198.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824636 ms (missed cycles : 2).[0m +199.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351526 ms (missed cycles : 4).[0m +200.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.140845 ms (missed cycles : 7).[0m +201.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386447 ms (missed cycles : 3).[0m +202.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.550110 ms (missed cycles : 7).[0m +203.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458457 ms (missed cycles : 5).[0m +204.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719907 ms (missed cycles : 3).[0m +205.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875523 ms (missed cycles : 5).[0m +206.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200009 ms (missed cycles : 2).[0m +207.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.336369 ms (missed cycles : 7).[0m +208.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.773076 ms (missed cycles : 6).[0m +209.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355095 ms (missed cycles : 3).[0m +210.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167779 ms (missed cycles : 2).[0m +211.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260887 ms (missed cycles : 5).[0m +212.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455741 ms (missed cycles : 2).[0m +213.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720015 ms (missed cycles : 2).[0m +214.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432980 ms (missed cycles : 3).[0m +215.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430993 ms (missed cycles : 3).[0m +216.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116496 ms (missed cycles : 4).[0m +217.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.095708 ms (missed cycles : 5).[0m +218.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046994 ms (missed cycles : 4).[0m +220.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454608 ms (missed cycles : 3).[0m +221.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913548 ms (missed cycles : 2).[0m +222.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458369 ms (missed cycles : 3).[0m +223.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682263 ms (missed cycles : 2).[0m +224.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308272 ms (missed cycles : 2).[0m +225.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086583 ms (missed cycles : 4).[0m +226.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327043 ms (missed cycles : 2).[0m +227.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435443 ms (missed cycles : 3).[0m +228.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150262 ms (missed cycles : 5).[0m +229.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.764259 ms (missed cycles : 5).[0m +230.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126424 ms (missed cycles : 2).[0m +231.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875464 ms (missed cycles : 5).[0m +232.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.405588 ms (missed cycles : 4).[0m +233.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750422 ms (missed cycles : 3).[0m +234.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058583 ms (missed cycles : 4).[0m +236.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463388 ms (missed cycles : 3).[0m +237.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001915 ms (missed cycles : 2).[0m +238.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155457 ms (missed cycles : 5).[0m +239.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463451 ms (missed cycles : 3).[0m +240.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813345 ms (missed cycles : 2).[0m +241.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002423 ms (missed cycles : 4).[0m +242.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306580 ms (missed cycles : 4).[0m +243.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111653 ms (missed cycles : 2).[0m +244.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093507 ms (missed cycles : 2).[0m +245.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172788 ms (missed cycles : 2).[0m +246.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933447 ms (missed cycles : 2).[0m +247.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554152 ms (missed cycles : 2).[0m +248.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.252507 ms (missed cycles : 4).[0m +249.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018642 ms (missed cycles : 4).[0m +250.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151986 ms (missed cycles : 4).[0m +252.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943089 ms (missed cycles : 5).[0m +253.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879993 ms (missed cycles : 5).[0m +254.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529200 ms (missed cycles : 3).[0m +255.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673487 ms (missed cycles : 4).[0m +255.77sINFOros2_control_nodeGot request to cancel goal[0m ×2 +255.77sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 +255.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled: Objective execution was halted at time: 1783715236.51428390 seconds +255.83sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1783715236.54249001 seconds. +256.14sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). +256.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709666 ms (missed cycles : 5).[0m +257.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942586 ms (missed cycles : 4).[0m +257.89sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] +258.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.033012 ms (missed cycles : 5).[0m +259.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556976 ms (missed cycles : 3).[0m +260.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135473 ms (missed cycles : 2).[0m +261.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170327 ms (missed cycles : 3).[0m +261.66sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m +262.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698546 ms (missed cycles : 3).[0m +263.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915730 ms (missed cycles : 3).[0m +264.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846711 ms (missed cycles : 5).[0m +265.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.545127 ms (missed cycles : 6).[0m +266.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1783715246.98721671 seconds +266.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282090 ms (missed cycles : 5).[0m +266.83sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1783715247.54094601 seconds. +267.13sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). +267.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008184 ms (missed cycles : 2).[0m +268.32sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 +268.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949131 ms (missed cycles : 2).[0m +269.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784859 ms (missed cycles : 3).[0m +270.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079001 ms (missed cycles : 2).[0m +271.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057859 ms (missed cycles : 2).[0m +272.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903114 ms (missed cycles : 3).[0m +273.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591782 ms (missed cycles : 3).[0m +274.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163816 ms (missed cycles : 2).[0m +275.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588530 ms (missed cycles : 3).[0m +277.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023651 ms (missed cycles : 2).[0m +278.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145613 ms (missed cycles : 4).[0m +279.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079335 ms (missed cycles : 2).[0m +280.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331875 ms (missed cycles : 3).[0m +281.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197427 ms (missed cycles : 2).[0m +282.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739278 ms (missed cycles : 5).[0m +283.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299774 ms (missed cycles : 2).[0m +284.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071492 ms (missed cycles : 4).[0m +285.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637764 ms (missed cycles : 2).[0m +286.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592896 ms (missed cycles : 4).[0m +287.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505947 ms (missed cycles : 3).[0m +288.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.906976 ms (missed cycles : 5).[0m +290.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412290 ms (missed cycles : 4).[0m +291.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543612 ms (missed cycles : 2).[0m +292.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701290 ms (missed cycles : 2).[0m +293.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041360 ms (missed cycles : 4).[0m +294.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300596 ms (missed cycles : 4).[0m +295.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741474 ms (missed cycles : 2).[0m +296.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802466 ms (missed cycles : 2).[0m +297.20sINFOobjective_server_nodePlanning for 34 path waypoints. +297.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.455585 ms (missed cycles : 7).[0m +298.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426591 ms (missed cycles : 3).[0m +299.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639759 ms (missed cycles : 2).[0m +301.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851939 ms (missed cycles : 2).[0m +302.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132829 ms (missed cycles : 2).[0m +303.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507914 ms (missed cycles : 4).[0m +304.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575039 ms (missed cycles : 2).[0m +305.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869179 ms (missed cycles : 3).[0m +306.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.291333 ms (missed cycles : 7).[0m +307.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169400 ms (missed cycles : 5).[0m +308.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745094 ms (missed cycles : 2).[0m +309.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902260 ms (missed cycles : 2).[0m +310.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749952 ms (missed cycles : 2).[0m +311.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050007 ms (missed cycles : 2).[0m +312.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972453 ms (missed cycles : 2).[0m +313.53sINFOobjective_server_nodePlanning for 38 path waypoints. +313.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161906 ms (missed cycles : 4).[0m +314.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254276 ms (missed cycles : 2).[0m +315.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030328 ms (missed cycles : 3).[0m +316.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.587533 ms (missed cycles : 6).[0m +317.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983427 ms (missed cycles : 2).[0m +318.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771564 ms (missed cycles : 3).[0m +319.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460864 ms (missed cycles : 3).[0m +320.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712224 ms (missed cycles : 2).[0m +321.66sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m +321.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466537 ms (missed cycles : 2).[0m +322.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423628 ms (missed cycles : 3).[0m +323.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881705 ms (missed cycles : 2).[0m +325.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.446126 ms (missed cycles : 6).[0m +325.28sINFOobjective_server_nodePlanning for 29 path waypoints. +326.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070100 ms (missed cycles : 5).[0m +327.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878116 ms (missed cycles : 3).[0m +328.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089525 ms (missed cycles : 3).[0m +329.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063287 ms (missed cycles : 2).[0m +330.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067758 ms (missed cycles : 2).[0m +331.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107097 ms (missed cycles : 4).[0m +332.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461560 ms (missed cycles : 3).[0m +333.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157198 ms (missed cycles : 4).[0m +334.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509115 ms (missed cycles : 3).[0m +335.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688073 ms (missed cycles : 5).[0m +336.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783715317.07111478 seconds +336.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797887 ms (missed cycles : 2).[0m +336.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783715317.64181089 seconds. +337.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742247 ms (missed cycles : 2).[0m +338.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594722 ms (missed cycles : 3).[0m +339.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799307 ms (missed cycles : 2).[0m +340.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958750 ms (missed cycles : 2).[0m +341.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780521 ms (missed cycles : 4).[0m +342.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568519 ms (missed cycles : 3).[0m +343.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044513 ms (missed cycles : 4).[0m +344.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115583 ms (missed cycles : 4).[0m +346.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530156 ms (missed cycles : 3).[0m +347.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439942 ms (missed cycles : 3).[0m +348.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244081 ms (missed cycles : 2).[0m +349.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498880 ms (missed cycles : 3).[0m +350.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066236 ms (missed cycles : 2).[0m +351.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014735 ms (missed cycles : 2).[0m +352.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875218 ms (missed cycles : 3).[0m +353.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754442 ms (missed cycles : 2).[0m +354.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.748609 ms (missed cycles : 4).[0m +355.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393869 ms (missed cycles : 2).[0m +356.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070188 ms (missed cycles : 5).[0m +357.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644923 ms (missed cycles : 2).[0m +358.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468215 ms (missed cycles : 6).[0m +359.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488570 ms (missed cycles : 3).[0m +360.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137679 ms (missed cycles : 4).[0m +361.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934618 ms (missed cycles : 5).[0m +362.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148530 ms (missed cycles : 2).[0m +363.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748031 ms (missed cycles : 3).[0m +364.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812781 ms (missed cycles : 3).[0m +365.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461615 ms (missed cycles : 3).[0m +366.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233847 ms (missed cycles : 2).[0m +367.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.110492 ms (missed cycles : 7).[0m +368.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016804 ms (missed cycles : 2).[0m +370.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916701 ms (missed cycles : 4).[0m +371.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461060 ms (missed cycles : 4).[0m +372.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153555 ms (missed cycles : 4).[0m +373.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185092 ms (missed cycles : 4).[0m +374.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094367 ms (missed cycles : 4).[0m +375.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132770 ms (missed cycles : 2).[0m +376.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154912 ms (missed cycles : 4).[0m +377.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979907 ms (missed cycles : 2).[0m +378.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239824 ms (missed cycles : 4).[0m +379.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965553 ms (missed cycles : 2).[0m +380.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755669 ms (missed cycles : 5).[0m +381.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797522 ms (missed cycles : 2).[0m +381.67sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m +382.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885895 ms (missed cycles : 3).[0m +383.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150229 ms (missed cycles : 4).[0m +384.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254489 ms (missed cycles : 2).[0m +385.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028166 ms (missed cycles : 4).[0m +386.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253503 ms (missed cycles : 4).[0m +387.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862495 ms (missed cycles : 2).[0m +388.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380304 ms (missed cycles : 3).[0m +389.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298323 ms (missed cycles : 3).[0m +390.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868645 ms (missed cycles : 2).[0m +391.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1783715372.00195312 seconds +391.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1783715372.55770445 seconds. +392.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160400 ms (missed cycles : 2).[0m +392.14sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). +393.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139632 ms (missed cycles : 3).[0m +394.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.205459 ms (missed cycles : 4).[0m +395.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829246 ms (missed cycles : 2).[0m +396.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717220 ms (missed cycles : 2).[0m +396.29sINFOobjective_server_nodeFound path in 0 iterations (7.1e-07 s). +396.31sINFOobjective_server_nodePath shortcutter: [X__________________X] +396.33sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). +396.36sINFOobjective_server_nodePath shortcutter: [X____________________X] +396.39sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). +396.43sINFOobjective_server_nodePath shortcutter: [X_________________________X] +396.46sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). +396.57sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +396.61sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). +396.81sINFOobjective_server_nodeFound path in 69 iterations (0.0514175 s). +396.97sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] +397.02sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). +397.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224603 ms (missed cycles : 3).[0m +397.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +397.35sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). +397.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +397.82sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +398.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564337 ms (missed cycles : 3).[0m +399.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937029 ms (missed cycles : 3).[0m +400.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486014 ms (missed cycles : 2).[0m +401.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443530 ms (missed cycles : 2).[0m +402.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955409 ms (missed cycles : 2).[0m +403.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836666 ms (missed cycles : 3).[0m +403.82sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783715384.52927399 seconds +404.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359906 ms (missed cycles : 2).[0m +404.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783715385.11227942 seconds. +404.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783715385.56242037 seconds +405.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783715386.10612106 seconds. +405.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806704 ms (missed cycles : 2).[0m +405.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783715386.54626393 seconds +406.06sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +406.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963008 ms (missed cycles : 5).[0m +407.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120248 ms (missed cycles : 3).[0m +408.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785842 ms (missed cycles : 2).[0m +409.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338998 ms (missed cycles : 6).[0m +411.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738972 ms (missed cycles : 5).[0m +411.60sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.60sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.61sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.61sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.61sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.62sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.62sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.62sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.63sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.63sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.63sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.64sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.64sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.64sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +411.65sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.66sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.66sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.66sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.67sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.67sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.67sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.68sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +411.69sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] +411.71sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +411.72sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +411.74sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +411.75sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] +411.77sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] +411.79sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] +411.80sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] +411.82sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] +411.84sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] +411.86sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] +411.87sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +411.89sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] +411.90sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +411.92sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] +411.92sERRORmove_group-19process has died [pid 9333, 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_nd9hy1vn --params-file /tmp/launch_params_3ovtybj9 --params-file /tmp/launch_params_p4ckk0f9 --params-file /tmp/launch_params_vgoee44b --params-file /tmp/launch_params_m06gzhdu --params-file /tmp/launch_params_761e0it4 --params-file /tmp/launch_params_vpmuhv_2 --params-file /tmp/launch_params_df4c78r_ --params-file /tmp/launch_params_oux8fjdq']. +411.92sINFOweb_video_server-31process has finished cleanly [pid 9407] +411.94sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] +411.95sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +411.97sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +411.99sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +411.99sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +411.99sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +411.99sERRORui_teleop_bridgeTraceback (most recent call last): +411.99sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +411.99sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +411.99sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +411.99sINFOui_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 +411.99sINFOui_teleop_bridgerclpy.shutdown() +411.99sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +411.99sINFOui_teleop_bridge_shutdown(context=context) +411.99sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +411.99sINFOui_teleop_bridgecontext.shutdown() +411.99sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +411.99sINFOui_teleop_bridgeself.__context.shutdown() +411.99sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +411.99sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +411.99sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +411.99sINFOcomponent_container_mtStopping planning scene monitor[0m +411.99sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +411.99sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +412.00sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +412.00sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +412.00sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +412.00sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +412.00sERRORmove_groupwhat(): context cannot be slept with because it's invalid +412.00sERRORmove_groupStack trace (most recent call last) in thread 9877: +412.00sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +412.00sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb67a4f0a63, in __clone +412.00sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb67a463aa3, in +412.00sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb67a6f5db3, in +412.00sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fb67ad4a1c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +412.00sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb67aa684d0, in rclcpp::Rate::sleep() +412.00sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb67a9bba88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +412.00sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb67a980a71, in +412.00sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb67a6c4390, in __cxa_throw +412.00sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb67a6aea54, in std::terminate() +412.00sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb67a6c40d9, in +412.00sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb67a6aeff4, in +412.00sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb67a3ef8fe, in abort +412.00sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb67a40c27d, in raise +412.00sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb67a465b2c, in pthread_kill +412.00sERRORmove_groupAborted (Signal sent by tkill() 9333 0) +412.00sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +412.00sINFOros2_control_nodeShutdown request received....[0m +412.00sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +412.00sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +412.00sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +412.00sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +412.00sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +412.00sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +412.00sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +412.00sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +412.00sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +412.00sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +412.00sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +412.00sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +412.00sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +412.00sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +412.00sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +412.00sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +412.00sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +412.00sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +412.00sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +412.00sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +412.00sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +412.00sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +412.00sINFOros2_control_nodeShutting down the controller manager.[0m +412.00sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +412.00sINFOobjective_server_node[2026-07-10 20:29:52.610] [moveit_pro_license] [info] +412.00sINFOobjective_server_node* Application has successfully terminated +412.00sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +412.00sERRORobjective_server_nodeStack trace (most recent call last): +412.01sERRORodom_qos_relay.pyTraceback (most recent call last): +412.01sINFOodom_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> +412.01sINFOodom_qos_relay.pymain() +412.01sINFOodom_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 +412.01sINFOodom_qos_relay.pyrclpy.spin(node) +412.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +412.01sINFOodom_qos_relay.pyexecutor.spin_once() +412.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +412.01sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +412.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +412.01sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +412.01sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +412.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +412.01sINFOodom_qos_relay.pyreturn next(self._cb_iter) +412.01sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +412.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +412.01sINFOodom_qos_relay.pyraise ExternalShutdownException() +412.01sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +412.01sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +412.01sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5569ead5d6a4, in _start +412.01sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb0d531028a, in __libc_start_main +412.01sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb0d53101d0, in +412.01sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb0d532dbbd, in exit +412.01sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb0d532da75, in +412.01sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fb0d57fc8f5, in spdlog::details::registry::~registry() +412.01sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5569ead5dd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +412.01sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5569ead64315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +412.01sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5569ead635a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +412.01sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5569ead5fb7b, in spdlog_ros::RosSink::~RosSink() +412.01sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5569ead5dd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +412.01sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb0d5eb2454, in rclcpp::Node::~Node() +412.01sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb0d5e6d515, in +412.01sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb0d5eb0d20, in +412.01sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb0d5eb0c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +412.01sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb0d5e6d5d9, in +412.01sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb0d5e72161, in rclcpp::CallbackGroup::~CallbackGroup() +412.01sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fb080a2cd10]) +412.01sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 +412.02sERRORobjective_server_node_main-24process has died [pid 9379, 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_8dpim9qc --params-file /tmp/launch_params_g5lc4cqz --params-file /tmp/launch_params_m3iowmrx --params-file /tmp/launch_params_2aibxkip --params-file /tmp/launch_params_y1tgxhfj --params-file /tmp/launch_params_l6px2xwo --params-file /tmp/launch_params_81pcodcr --params-file /tmp/launch_params_ur3nisxy --params-file /tmp/launch_params_tfqbiab8']. +412.02sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system +412.03sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +412.10sINFOros2_control_nodeAsync messages lost 0[0m ×2 +412.10sINFOros2_control_nodepublish_async_failures_ 5[0m +412.10sINFOros2_control_nodepublish_async_failures_ 2[0m +412.74sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9406] +412.74sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +412.83sINFOexecute_objective_bridge-27process has finished cleanly [pid 9383] +412.83sERRORui_teleop_bridge-28process has died [pid 9401, 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_702oc040']. +412.84sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9378] +412.85sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9336] +412.85sINFOcomponent_container_mt-26process has finished cleanly [pid 9381] +412.90sINFOparameter_manager_node-20process has finished cleanly [pid 9334] +412.93sINFOwaypoint_manager_node-21process has finished cleanly [pid 9335] +412.95sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9254] +412.97sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9253] +413.00sINFOstatic_transform_publisher-3process has finished cleanly [pid 9251] +413.01sINFOstatic_transform_publisher-2process has finished cleanly [pid 9250] +413.03sERRORodom_qos_relay.py-4process has died [pid 9252, 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']. +413.97sINFOcomponent_container_mt-25process has finished cleanly [pid 9380] +414.37sINFOweb_bridge-29process has finished cleanly [pid 9405] +414.37sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system +414.65sINFOros2_control_node-7process has finished cleanly [pid 9255] +416.60sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +416.61sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] +416.62sERRORcomponent_container_isolated-1process has died [pid 9249, exit code -9, 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_ip62euuh --params-file /tmp/launch_params_2ln32wqi -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +423.10sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-10-20-30-01-374289-54d4386b8451-10252 ×2 +431.77sINFOstatic_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' +431.77sINFOstatic_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' +431.84sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +431.85sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +431.85sINFOcontroller_managerupdate rate is 600 Hz +431.85sINFOcontroller_managerOverruns handling is : enabled +431.85sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +431.85sWARNcontroller_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. +431.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555489 ms (missed cycles : 3). +431.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +431.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +431.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +432.00sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +432.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +432.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +432.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +432.06sINFOcontroller_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. +432.08sINFOros2_control_node-7process started with pid [10308] ×2 +432.09sINFOmove_group-19process started with pid [10404] ×2 +432.09sINFOparameter_manager_node-20process started with pid [10405] ×2 +432.09sINFOwaypoint_manager_node-21process started with pid [10406] ×2 +432.09sINFOmove_joint_resampler_node-22process started with pid [10407] ×2 +432.09sINFOmove_end_effector_resampler_node-23process started with pid [10451] ×2 +432.09sINFOobjective_server_node_main-24process started with pid [10454] ×2 +432.09sINFOcomponent_container_mt-25process started with pid [10465] ×2 +432.09sINFOcomponent_container_mt-26process started with pid [10471] ×2 +432.09sINFOexecute_objective_bridge-27process started with pid [10472] ×2 +432.09sINFOui_teleop_bridge-28process started with pid [10474] ×2 +432.09sINFOweb_bridge-29process started with pid [10475] ×2 +432.09sINFOtf2_web_republisher_node-30process started with pid [10480] ×2 +432.09sINFOweb_video_server-31process started with pid [10481] ×2 +432.11sINFOcomponent_container_isolated-1process started with pid [10302] ×2 +432.11sINFOstatic_transform_publisher-2process started with pid [10303] ×2 +432.11sINFOstatic_transform_publisher-3process started with pid [10304] ×2 +432.11sINFOodom_qos_relay.py-4process started with pid [10305] ×2 +432.11sINFOscan_to_scan_filter_chain-5process started with pid [10306] ×2 +432.11sINFOscan_to_scan_filter_chain-6process started with pid [10307] ×2 +432.11sINFOros2-8process started with pid [10309] ×2 +432.11sINFOros2-9process started with pid [10376] ×2 +432.11sINFOros2-10process started with pid [10378] ×2 +432.11sINFOros2-11process started with pid [10393] ×2 +432.11sINFOros2-12process started with pid [10397] ×2 +432.11sINFOros2-13process started with pid [10398] ×2 +432.11sINFOros2-14process started with pid [10399] ×2 +432.11sINFOros2-15process started with pid [10400] ×2 +432.12sINFOcontroller_serverCreating controller server +432.12sINFOros2-16process started with pid [10401] ×2 +432.12sINFOros2-17process started with pid [10402] ×2 +432.12sINFOros2-18process started with pid [10403] ×2 +432.15sINFOlocal_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. +432.16sINFOlocal_costmap.local_costmapCreating Costmap +432.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555489 ms (missed cycles : 3).[0m ×2 +432.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +432.21sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +432.22sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +432.22sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +432.22sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +432.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +432.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +432.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +432.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +432.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +432.26sINFOmap_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. +432.26sINFOmap_serverCreating +432.26sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +432.27sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +432.27sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +432.30sINFOsmoother_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. +432.33sINFOrobot_state_publisherRobot initialized +432.33sINFOcontroller_managerReceived robot description from topic. +432.33sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +432.34sINFOsmoother_serverCreating smoother server +432.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +432.35sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +432.35sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +432.39sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +432.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +432.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +432.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +432.44sINFOplanner_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. +432.46sINFOplanner_serverCreating +432.48sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +432.50sINFOglobal_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. +432.50sINFOglobal_costmap.global_costmapCreating Costmap +432.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +432.52sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +432.52sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +432.54sINFOlifecycle_manager_localizationCreating +432.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +432.54sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +432.55sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +432.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +432.55sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +432.55sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +432.56sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +432.56sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +432.56sINFOmap_serverConfiguring +432.58sINFObehavior_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. +432.60sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +432.62sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +432.63sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +432.63sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +432.63sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +432.63sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +432.63sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +432.63sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +432.63sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +432.63sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +432.63sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +432.63sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +432.63sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +432.64sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +432.64sINFOamclConfiguring +432.65sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +432.65sINFOmap_serverActivating +432.65sINFOmap_serverCreating bond (map_server) to lifecycle manager. +432.68sINFObt_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. +432.71sINFObt_navigatorCreating +432.72sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +432.73sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +432.73sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +432.76sINFOwaypoint_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. +432.76sINFOlifecycle_manager_localizationServer map_server connected with bond. +432.76sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +432.76sINFOamclActivating +432.76sINFOwaypoint_followerCreating +432.76sINFOamclSubscribed to initial_pose_topic: /initialpose +432.76sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +432.78sWARNlaser_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. +432.78sWARNlaser_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. +432.78sINFOamclSubscribed to map_topic: /map +432.78sINFOamclSubscribed to scan_topic: /scan_merged +432.78sINFOamclCreated reinitialize_global_localization service +432.78sINFOamclCreated request_nomotion_update service +432.79sINFOamclA new map was received +432.79sINFOamclInitializing particle filter instance +432.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +432.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +432.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +432.80sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.559561 seconds +432.81sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +432.81sINFOmove_groupLoaded robot model in 0.559561 seconds[0m ×2 +432.81sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +432.81sINFOvelocity_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. +432.85sINFOlifecycle_manager_navigationCreating +432.86sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +432.87sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +432.87sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +432.87sINFOcontroller_serverConfiguring controller interface +432.87sINFOcontroller_servergetting progress checker plugins.. +432.87sINFOcontroller_servergetting goal checker plugins.. +432.87sINFOcontroller_serverController frequency set to 20.0000Hz +432.87sINFOlocal_costmap.local_costmapConfiguring +432.88sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +432.89sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +432.93sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +432.93sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +432.93sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +432.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323562 ms (missed cycles : 4). +432.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323562 ms (missed cycles : 4).[0m ×2 +432.96sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +432.97sINFOcontroller_serverController Server has progress_checker progress checkers available. +432.97sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +432.97sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +432.97sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +433.00sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +433.01sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +433.01sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +433.01sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +433.01sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +433.01sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +433.01sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +433.02sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +433.02sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +433.02sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +433.02sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +433.02sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +433.02sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +433.02sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +433.03sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +433.03sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +433.03sINFOcontroller_serverOptimizer reset +433.05sINFOcontroller_serverController Server has FollowPath controllers available. +433.06sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +433.06sINFOsmoother_serverConfiguring smoother server +433.09sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +433.09sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +433.10sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +433.10sINFOplanner_serverConfiguring +433.10sINFOglobal_costmap.global_costmapConfiguring +433.12sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +433.14sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +433.14sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +433.14sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +433.15sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +433.21sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +433.21sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +433.22sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +433.25sFATALplanner_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 +433.25sINFOplanner_serverCleaning up +433.25sINFOglobal_costmap.global_costmapCleaning up +433.30sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +433.31sINFOamclParticle filter initialization completed +433.32sINFOamclInitializing particles from estimated pose and covariance +433.32sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +433.32sINFOamclThe bond connection to the lifecycle manager is now fully formed +433.32sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +433.32sINFOlifecycle_manager_localizationServer amcl connected with bond. +433.32sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +433.32sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +433.33sWARNmove_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. +433.35sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +433.35sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +433.35sWARNmove_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. +433.36sWARNmove_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. +433.36sWARNmove_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. +433.37sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +433.37sWARNmove_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. +433.37sWARNmove_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. +433.37sWARNmove_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. +433.38sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +433.38sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +433.48sINFOwaypoint_manager_nodeLoaded robot model in 0.396301 seconds[0m ×2 +433.78sWARNwaypoint_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. +433.78sWARNwaypoint_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. +433.78sWARNwaypoint_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. +433.79sWARNwaypoint_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. +433.79sWARNwaypoint_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. +433.79sWARNwaypoint_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. +433.79sWARNwaypoint_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. +433.80sWARNwaypoint_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. +433.80sWARNwaypoint_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. +433.80sWARNwaypoint_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. +433.80sWARNwaypoint_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. +433.80sWARNwaypoint_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. +433.80sWARNwaypoint_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. +433.80sWARNwaypoint_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. +433.80sWARNwaypoint_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. +433.80sWARNwaypoint_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. +433.80sWARNwaypoint_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. +433.80sWARNwaypoint_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. +433.81sWARNwaypoint_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. +433.81sWARNwaypoint_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. +433.82sWARNwaypoint_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. +433.82sWARNwaypoint_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. +433.82sWARNwaypoint_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. +433.82sWARNwaypoint_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. +433.83sWARNwaypoint_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. +433.83sWARNwaypoint_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. +433.83sWARNwaypoint_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. +433.83sWARNwaypoint_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. +433.89sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +433.90sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +433.93sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +433.93sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +433.93sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +433.93sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +433.93sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +433.93sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +433.94sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +433.94sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +433.94sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +433.94sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +433.94sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +434.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700727 ms (missed cycles : 3). +434.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700727 ms (missed cycles : 3).[0m ×2 +434.53sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +434.53sINFOcontroller_managerActivating component 'ur_mujoco_control'. +434.53sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +434.53sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +434.55sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +434.55sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +434.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj +434.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj [0m ×2 +434.56sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +434.56sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +434.63sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +434.63sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +434.64sINFOforce_torque_sensor_broadcasterconfigure successful +434.64sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +434.64sINFOcontroller_managerSuccessfully switched controllers! ×8 +434.65sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +434.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +434.76sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +434.78sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +434.78sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +434.78sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +434.78sINFOstreaming_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) +434.79sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +434.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +434.95sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +434.96sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/load_controller to become available... +434.96sINFOstreaming_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) +434.96sINFOros2waiting for service /controller_manager/load_controller to become available...[0m ×2 +434.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +434.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +434.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +434.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +434.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +434.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +434.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +434.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +434.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +434.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +434.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +434.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +434.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +434.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +434.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +434.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +434.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +434.97sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +434.98sINFOros2-8process has finished cleanly [pid 10309] ×2 +434.99sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +435.04sINFOobjective_server_node[2026-07-10 20:30:15.750] [moveit_pro_license] [info] ×2 +435.10sINFOobjective_server_nodeLoaded robot model in 0.0227928 seconds[0m ×2 +435.12sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +435.12sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +435.21sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +435.21sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +435.21sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj +435.22sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj [0m ×2 +435.24sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +435.24sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +435.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.806222 ms (missed cycles : 7). +435.26sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +435.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.806222 ms (missed cycles : 7).[0m ×2 +435.26sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +435.39sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +435.39sWARNobjective_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. +435.39sWARNobjective_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. +435.39sWARNobjective_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. +435.39sWARNobjective_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. +435.39sWARNobjective_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. +435.39sWARNobjective_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. +435.39sWARNobjective_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. +435.39sWARNobjective_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. +435.39sWARNobjective_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. +435.39sWARNobjective_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. +435.52sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +435.58sINFOcomponent_container_mtLoaded robot model in 0.454268 seconds[0m ×2 +435.59sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +435.61sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +435.61sINFOcontroller_managerLoading controller 'platform_velocity_controller' +435.62sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj +435.62sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj [0m ×2 +435.63sINFOros2-9process has finished cleanly [pid 10376] ×2 +435.65sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +435.65sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +435.66sINFOplatform_velocity_controllerconfigure successful +435.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +435.66sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +435.76sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1783715415.358 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +435.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +435.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +435.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +435.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +435.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +435.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +435.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +435.88sWARNplanning_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. +435.88sWARNplanning_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. +435.88sWARNplanning_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. +435.88sWARNplanning_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. +435.88sWARNplanning_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. +435.88sWARNplanning_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. +435.88sWARNplanning_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. +435.88sWARNplanning_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. +435.88sWARNplanning_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. +435.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +435.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +435.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +435.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +435.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +435.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +435.89sWARNplanning_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. +435.89sWARNplanning_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. +435.89sWARNplanning_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. +435.89sWARNplanning_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. +435.89sWARNplanning_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. +435.89sWARNplanning_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. +435.92sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +435.92sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +435.98sINFOros2-11process has finished cleanly [pid 10393] ×2 +436.06sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj +436.06sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj [0m ×2 +436.11sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +436.12sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +436.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480317 ms (missed cycles : 3). +436.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480317 ms (missed cycles : 3).[0m ×2 +436.39sINFOros2_control_node[2026-07-10 20:30:17.103] [info] Controller state will be published at 20 Hz. ×2 +436.40sINFOros2_control_node[2026-07-10 20:30:17.104] [info] JointVelocityController 'on_configure' succeeded. ×2 +436.70sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds +436.72sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +436.72sINFOcontroller_managerLoading controller 'joint_velocity_controller' +436.72sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj +436.72sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj [0m ×2 +436.74sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers +436.74sINFOmove_groupMoveGroup debug mode is ON +436.75sINFOros2-18process has finished cleanly [pid 10403] ×2 +436.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +436.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +436.91sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+437.03sINFOros2_control_node[2026-07-10 20:30:17.744] [info] Controller state will be published at 20 Hz. ×2 +437.04sINFOros2_control_node[2026-07-10 20:30:17.745] [info] JointVelocityController 'on_configure' succeeded. ×2 +437.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738044 ms (missed cycles : 3). +437.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738044 ms (missed cycles : 3).[0m ×2 +437.42sINFOros2-17process has finished cleanly [pid 10402] ×2 +437.42sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +437.68sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +437.68sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +437.68sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj +437.68sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj [0m ×2 +437.70sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +437.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +437.70sINFOplatform_velocity_controller_nav2configure successful +438.02sINFOros2-13process has finished cleanly [pid 10398] ×2 +438.04sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +438.04sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +438.05sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj +438.05sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj [0m ×2 +438.13sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +438.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +438.14sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +438.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +438.14sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +438.14sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +438.14sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +438.26sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1783715417.861 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +438.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906387 ms (missed cycles : 2). +438.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906387 ms (missed cycles : 2).[0m ×2 +438.46sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +438.46sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +438.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj +438.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj [0m ×2 +438.48sINFOros2-14process has finished cleanly [pid 10399] ×2 +438.52sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +438.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +438.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +438.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +438.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +438.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +438.55sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +438.67sINFOamclParticle filter update iteration stats: 2261 particles 723 points - 2.676ms +438.87sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... +438.88sINFOros2-10process has finished cleanly [pid 10378] ×2 +439.13sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +439.13sINFOcontroller_managerLoading controller 'vacuum_gripper' +439.13sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj +439.13sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj [0m ×2 +439.15sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +439.15sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +439.15sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +439.15sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +439.16sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +439.17sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +439.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788835 ms (missed cycles : 3). +439.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788835 ms (missed cycles : 3).[0m ×2 +439.49sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +439.49sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +439.53sINFOros2-12process has finished cleanly [pid 10397] ×2 +439.56sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj +439.56sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj [0m ×2 +439.62sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +439.62sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +439.87sINFOros2_control_node[2026-07-10 20:30:20.584] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +439.88sINFOros2_control_node[2026-07-10 20:30:20.586] [info] Controller state will be published at 10 Hz. ×2 +439.88sINFOros2_control_node[2026-07-10 20:30:20.587] [info] VelocityForceController 'on_configure' succeeded. ×2 +440.23sINFOros2-16process has finished cleanly [pid 10401] ×2 +440.23sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +440.23sINFOcontroller_managerLoading controller 'velocity_force_controller' +440.23sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj +440.24sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_0i0xf_dg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j1hkto1m --params-file /tmp/launch_params_4szad2qj [0m ×2 +440.30sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +440.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +440.54sINFOros2_control_node[2026-07-10 20:30:21.249] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +440.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286536 ms (missed cycles : 2). +440.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286536 ms (missed cycles : 2).[0m ×2 +440.54sINFOros2_control_node[2026-07-10 20:30:21.253] [info] Controller state will be published at 10 Hz. ×2 +440.55sINFOros2_control_node[2026-07-10 20:30:21.255] [info] VelocityForceController 'on_configure' succeeded. ×2 +440.80sINFOros2-15process has finished cleanly [pid 10400] ×2 +441.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493151 ms (missed cycles : 4). +441.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493151 ms (missed cycles : 4).[0m ×2 +442.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2). +442.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2).[0m ×2 +443.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). +443.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 +445.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). +445.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 +445.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 +445.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +445.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +445.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 +446.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). +446.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 +446.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 +446.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 +446.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 +446.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 +447.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). +447.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 +447.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 +447.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +447.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +447.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +447.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +447.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +447.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +447.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 +448.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 +448.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +448.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +448.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +448.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). +448.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 | ||||
▾
/__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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 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 | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 4.70sINFOobjective_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 + 4.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 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 2.955386 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 4.70sINFOobjective_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 + 4.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493151 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493151 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 2.74sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 3.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.89sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 4.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.75sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 6.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 6.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 7.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493151 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493151 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 2.74sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 3.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.89sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 4.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.75sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 6.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 6.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 4.70sINFOobjective_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 + 4.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 4.70sINFOobjective_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 + 4.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 4.70sINFOobjective_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 + 4.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955386 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 4.70sINFOobjective_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 + 4.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.71sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218894 ms (missed cycles : 4).[0m ×2 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256558 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783715426.42708063 seconds. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783715426.43731260 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787878 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783715426.98950601 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783715427.00966072 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783715427.55061889 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783715427.70119238 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609832 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783715428.27191734 seconds. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783715428.32205987 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783715428.86413860 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350268 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112641 ms (missed cycles : 5).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.50sINFOjoint_trajectory_controllerAccepted new action goal + 5.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551135 ms (missed cycles : 3).[0m ×2 | ||||