MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

19.4s

Avg test time

88%

Objective pass rate

Show INFO/DEBUG

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

2 fail10 pass25 skip

✕ failed	Plan Path Along Surface	plan_path_along_surface.xml	32.9s	6 errors · 117 warnings · 65 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082475 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082475 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906350 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906350 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325013 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325013 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421098 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421098 ms (missed cycles : 5).[0m ×2 + 3.64sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.64sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.69sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784312756.06931496 seconds ×3 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553146 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553146 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784312756.62827015 seconds. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.99sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.250ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626855 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626855 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.89sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.89sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.89sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.89sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.334ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702073 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702073 ms (missed cycles : 2).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804864 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804864 ms (missed cycles : 3).[0m ×2 + 7.49sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 1.927ms + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693006 ms (missed cycles : 4). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693006 ms (missed cycles : 4).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641283 ms (missed cycles : 4). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641283 ms (missed cycles : 4).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242159 ms (missed cycles : 2). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242159 ms (missed cycles : 2).[0m ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250879 ms (missed cycles : 5). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250879 ms (missed cycles : 5).[0m ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027188 ms (missed cycles : 6). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027188 ms (missed cycles : 6).[0m ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319738 ms (missed cycles : 3). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319738 ms (missed cycles : 3).[0m ×2 + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.294826 ms (missed cycles : 5). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.294826 ms (missed cycles : 5).[0m ×2 + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.202436 ms (missed cycles : 4). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.202436 ms (missed cycles : 4).[0m ×2 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492470 ms (missed cycles : 2). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492470 ms (missed cycles : 2).[0m ×2 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775799 ms (missed cycles : 3). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775799 ms (missed cycles : 3).[0m ×2 + 18.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407185 ms (missed cycles : 2). + 18.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407185 ms (missed cycles : 2).[0m ×2 + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242335 ms (missed cycles : 2). + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242335 ms (missed cycles : 2).[0m ×2 + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343494 ms (missed cycles : 5). + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343494 ms (missed cycles : 5).[0m ×2 + 21.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730214 ms (missed cycles : 2). + 21.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730214 ms (missed cycles : 2).[0m ×2 + 22.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.353588 ms (missed cycles : 5). + 22.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.353588 ms (missed cycles : 5).[0m ×2 + 23.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628612 ms (missed cycles : 3). + 23.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628612 ms (missed cycles : 3).[0m ×2 + 24.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587416 ms (missed cycles : 3). + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587416 ms (missed cycles : 3).[0m ×2 + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909993 ms (missed cycles : 3). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909993 ms (missed cycles : 3).[0m ×2 + 26.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951219 ms (missed cycles : 3). + 26.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951219 ms (missed cycles : 3).[0m ×2 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093782 ms (missed cycles : 2). + 27.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093782 ms (missed cycles : 2).[0m ×2 + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643394 ms (missed cycles : 3). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643394 ms (missed cycles : 3).[0m ×2 + 29.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683065 ms (missed cycles : 2). + 29.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683065 ms (missed cycles : 2).[0m ×2 + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226537 ms (missed cycles : 2). + 31.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226537 ms (missed cycles : 2).[0m ×2 + 32.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041178 ms (missed cycles : 2). + 32.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041178 ms (missed cycles : 2).[0m ×2 + 33.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584960 ms (missed cycles : 3). + 33.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584960 ms (missed cycles : 3).[0m ×2 + 34.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.907751 ms (missed cycles : 6). + 34.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.907751 ms (missed cycles : 6).[0m ×2 + 35.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752553 ms (missed cycles : 2). + 35.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752553 ms (missed cycles : 2).[0m ×2 + 36.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714197 ms (missed cycles : 4). + 36.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714197 ms (missed cycles : 4).[0m ×2 + 36.60sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 36.61sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 36.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784312788.98849678 seconds ×3 + 36.87sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.639ms + 36.99sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.445ms + 37.28sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784312789.65888953 seconds. ×3 + 37.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534724 ms (missed cycles : 2). + 37.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534724 ms (missed cycles : 2).[0m ×2 + 37.64sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 38.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298639 ms (missed cycles : 2). + 38.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298639 ms (missed cycles : 2).[0m ×2 + 38.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.792ms + 39.34sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284664 ms (missed cycles : 2). + 39.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284664 ms (missed cycles : 2).[0m ×2
✕ failed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	29.8s	9 errors · 105 warnings · 64 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771411 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771411 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144514 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144514 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672289 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672289 ms (missed cycles : 6).[0m ×2 + 3.02sINFOjoint_trajectory_controllerGot request to cancel goal + 3.02sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.02sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.02sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784312800.15081072 seconds ×3 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723597 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723597 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.037ms + 3.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.294ms + 3.62sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784312800.70319057 seconds. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051405 ms (missed cycles : 6). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051405 ms (missed cycles : 6).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698855 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698855 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.24sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.24sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.402ms + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.188765 ms (missed cycles : 7). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.188765 ms (missed cycles : 7).[0m ×2 + 6.68sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.106ms + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351948 ms (missed cycles : 6). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351948 ms (missed cycles : 6).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613098 ms (missed cycles : 3). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613098 ms (missed cycles : 3).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570607 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570607 ms (missed cycles : 2).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965112 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965112 ms (missed cycles : 3).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694715 ms (missed cycles : 3). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694715 ms (missed cycles : 3).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599390 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599390 ms (missed cycles : 2).[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.044641 ms (missed cycles : 5). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.044641 ms (missed cycles : 5).[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.314754 ms (missed cycles : 5). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.314754 ms (missed cycles : 5).[0m ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875639 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875639 ms (missed cycles : 2).[0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766450 ms (missed cycles : 4). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766450 ms (missed cycles : 4).[0m ×2 + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690620 ms (missed cycles : 2). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690620 ms (missed cycles : 2).[0m ×2 + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042057 ms (missed cycles : 4). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042057 ms (missed cycles : 4).[0m ×2 + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064812 ms (missed cycles : 2). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064812 ms (missed cycles : 2).[0m ×2 + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695466 ms (missed cycles : 2). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695466 ms (missed cycles : 2).[0m ×2 + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629849 ms (missed cycles : 4). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629849 ms (missed cycles : 4).[0m ×2 + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386971 ms (missed cycles : 3). + 22.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386971 ms (missed cycles : 3).[0m ×2 + 23.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756662 ms (missed cycles : 2). + 23.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756662 ms (missed cycles : 2).[0m ×2 + 24.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185171 ms (missed cycles : 3). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185171 ms (missed cycles : 3).[0m ×2 + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506655 ms (missed cycles : 3). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506655 ms (missed cycles : 3).[0m ×2 + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939139 ms (missed cycles : 3). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939139 ms (missed cycles : 3).[0m ×2 + 28.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745927 ms (missed cycles : 2). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745927 ms (missed cycles : 2).[0m ×2 + 29.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3). + 29.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3).[0m ×2 + 30.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3).[0m ×2 + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3).[0m ×2 + 32.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3). + 32.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3).[0m ×2 + 32.52sINFOjoint_trajectory_controllerGoal reached, success! + 32.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 32.85sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 32.86sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 32.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784312829.94338965 seconds ×3 + 33.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.905ms + 33.16sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.598ms + 33.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3). + 33.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3).[0m ×2 + 33.46sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784312830.55001235 seconds. ×3 + 33.81sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 34.17sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.854ms + 34.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6). + 34.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6).[0m ×2 + 35.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2). + 35.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	56.8s	186 warnings · 122 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526749 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526749 ms (missed cycles : 3).[0m ×2 + 0.04sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.04sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784312659.08131099 seconds ×3 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 0.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784312659.63641620 seconds. ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772168 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772168 ms (missed cycles : 5).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 1.54sINFOobjective_server_nodeFound path in 0 iterations (2.1321e-05 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.56sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.56sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.56sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.56sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907052 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907052 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582028 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582028 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784312662.68658948 seconds ×3 + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608787 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608787 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784312663.24692726 seconds. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139453 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139453 ms (missed cycles : 4).[0m ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281758 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281758 ms (missed cycles : 3).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409185 ms (missed cycles : 3). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409185 ms (missed cycles : 3).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.479196 ms (missed cycles : 6). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.479196 ms (missed cycles : 6).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663721 ms (missed cycles : 4). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663721 ms (missed cycles : 4).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868746 ms (missed cycles : 3). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868746 ms (missed cycles : 3).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691923 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691923 ms (missed cycles : 2).[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650366 ms (missed cycles : 4). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650366 ms (missed cycles : 4).[0m ×2 + 12.69sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479841 ms (missed cycles : 4). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479841 ms (missed cycles : 4).[0m ×2 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039588 ms (missed cycles : 5). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039588 ms (missed cycles : 5).[0m ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.505711 ms (missed cycles : 7). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.505711 ms (missed cycles : 7).[0m ×2 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.950831 ms (missed cycles : 6). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.950831 ms (missed cycles : 6).[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263241 ms (missed cycles : 3). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263241 ms (missed cycles : 3).[0m ×2 + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366619 ms (missed cycles : 6). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366619 ms (missed cycles : 6).[0m ×2 + 19.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134285 ms (missed cycles : 2). + 19.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134285 ms (missed cycles : 2).[0m ×2 + 20.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.136861 ms (missed cycles : 5). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.136861 ms (missed cycles : 5).[0m ×2 + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378183 ms (missed cycles : 2). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378183 ms (missed cycles : 2).[0m ×2 + 22.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829052 ms (missed cycles : 2). + 22.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829052 ms (missed cycles : 2).[0m ×2 + 23.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013153 ms (missed cycles : 2). + 23.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013153 ms (missed cycles : 2).[0m ×2 + 24.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.397868 ms (missed cycles : 5). + 24.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.397868 ms (missed cycles : 5).[0m ×2 + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041241 ms (missed cycles : 5). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041241 ms (missed cycles : 5).[0m ×2 + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067077 ms (missed cycles : 3). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067077 ms (missed cycles : 3).[0m ×2 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101012 ms (missed cycles : 4). + 27.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101012 ms (missed cycles : 4).[0m ×2 + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.973290 ms (missed cycles : 6). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.973290 ms (missed cycles : 6).[0m ×2 + 30.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596221 ms (missed cycles : 4). + 30.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596221 ms (missed cycles : 4).[0m ×2 + 31.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215168 ms (missed cycles : 2). + 31.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215168 ms (missed cycles : 2).[0m ×2 + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630895 ms (missed cycles : 3). + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630895 ms (missed cycles : 3).[0m ×2 + 33.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057483 ms (missed cycles : 2). + 33.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057483 ms (missed cycles : 2).[0m ×2 + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609793 ms (missed cycles : 3). + 34.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609793 ms (missed cycles : 3).[0m ×2 + 34.86sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893122 ms (missed cycles : 2). + 35.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893122 ms (missed cycles : 2).[0m ×2 + 36.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.666259 ms (missed cycles : 4). + 36.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.666259 ms (missed cycles : 4).[0m ×2 + 37.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029476 ms (missed cycles : 5). + 37.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029476 ms (missed cycles : 5).[0m ×2 + 38.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.970209 ms (missed cycles : 6). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.970209 ms (missed cycles : 6).[0m ×2 + 39.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276706 ms (missed cycles : 5). + 39.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276706 ms (missed cycles : 5).[0m ×2 + 40.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757964 ms (missed cycles : 3). + 40.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757964 ms (missed cycles : 3).[0m ×2 + 40.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 41.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348000 ms (missed cycles : 3). + 41.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348000 ms (missed cycles : 3).[0m ×2 + 42.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 42.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.905629 ms (missed cycles : 6). + 42.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.905629 ms (missed cycles : 6).[0m ×2 + 43.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416397 ms (missed cycles : 3). + 43.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416397 ms (missed cycles : 3).[0m ×2 + 44.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 44.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728347 ms (missed cycles : 2). + 44.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728347 ms (missed cycles : 2).[0m ×2 + 44.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 45.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885647 ms (missed cycles : 3). + 45.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885647 ms (missed cycles : 3).[0m ×2 + 46.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893915 ms (missed cycles : 3). + 46.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893915 ms (missed cycles : 3).[0m ×2 + 47.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 47.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141827 ms (missed cycles : 2). + 47.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141827 ms (missed cycles : 2).[0m ×2 + 48.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 48.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.908513 ms (missed cycles : 5). + 48.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.908513 ms (missed cycles : 5).[0m ×2 + 49.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245446 ms (missed cycles : 2). + 49.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245446 ms (missed cycles : 2).[0m ×2 + 50.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343964 ms (missed cycles : 2). + 50.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343964 ms (missed cycles : 2).[0m ×2 + 51.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 51.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841653 ms (missed cycles : 2). + 51.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841653 ms (missed cycles : 2).[0m ×2 + 51.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.694ms + 52.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247202 ms (missed cycles : 2). + 52.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247202 ms (missed cycles : 2).[0m ×2 + 53.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769763 ms (missed cycles : 4). + 53.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769763 ms (missed cycles : 4).[0m ×2 + 54.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.194ms + 54.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255677 ms (missed cycles : 5). + 54.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255677 ms (missed cycles : 5).[0m ×2 + 55.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 55.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418037 ms (missed cycles : 5). + 55.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418037 ms (missed cycles : 5).[0m ×2 + 56.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642780 ms (missed cycles : 3). + 56.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642780 ms (missed cycles : 3).[0m ×2 + 57.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261536 ms (missed cycles : 2). + 57.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261536 ms (missed cycles : 2).[0m ×2 + 58.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 58.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830723 ms (missed cycles : 4). + 58.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830723 ms (missed cycles : 4).[0m ×2 + 59.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 60.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962634 ms (missed cycles : 6). + 60.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962634 ms (missed cycles : 6).[0m ×2 + 60.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784312719.47709179 seconds ×3 + 60.66sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.027ms + 60.76sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.069ms + 61.04sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784312720.04727483 seconds. ×3 + 61.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044207 ms (missed cycles : 2). + 61.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044207 ms (missed cycles : 2).[0m ×2 + 61.37sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 61.39sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.74sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.746ms + 62.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014150 ms (missed cycles : 5). + 62.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014150 ms (missed cycles : 5).[0m ×2 + 63.14sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.039ms + 63.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599104 ms (missed cycles : 6). + 63.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599104 ms (missed cycles : 6).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	55.1s	6 errors · 180 warnings · 86 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.46sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.78sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784312829.94338965 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.905ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.598ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784312830.55001235 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.854ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.06sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.06sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.06sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395645 ms (missed cycles : 5). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395645 ms (missed cycles : 5).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348821 ms (missed cycles : 5). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348821 ms (missed cycles : 5).[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100706 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100706 ms (missed cycles : 2).[0m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652318 ms (missed cycles : 2). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652318 ms (missed cycles : 2).[0m ×2 + 11.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174378 ms (missed cycles : 5). + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174378 ms (missed cycles : 5).[0m ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697339 ms (missed cycles : 3). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697339 ms (missed cycles : 3).[0m ×2 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399152 ms (missed cycles : 4). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399152 ms (missed cycles : 4).[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958990 ms (missed cycles : 3). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958990 ms (missed cycles : 3).[0m ×2 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420680 ms (missed cycles : 2). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420680 ms (missed cycles : 2).[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727186 ms (missed cycles : 2). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727186 ms (missed cycles : 2).[0m ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982040 ms (missed cycles : 2). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982040 ms (missed cycles : 2).[0m ×2 + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688614 ms (missed cycles : 2). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688614 ms (missed cycles : 2).[0m ×2 + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315302 ms (missed cycles : 5). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315302 ms (missed cycles : 5).[0m ×2 + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017959 ms (missed cycles : 2). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017959 ms (missed cycles : 2).[0m ×2 + 21.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412164 ms (missed cycles : 5). + 21.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412164 ms (missed cycles : 5).[0m ×2 + 22.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309398 ms (missed cycles : 4). + 22.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309398 ms (missed cycles : 4).[0m ×2 + 23.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970730 ms (missed cycles : 3). + 23.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970730 ms (missed cycles : 3).[0m ×2 + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.338959 ms (missed cycles : 5). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.338959 ms (missed cycles : 5).[0m ×2 + 25.57sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162319 ms (missed cycles : 2). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162319 ms (missed cycles : 2).[0m ×2 + 26.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555226 ms (missed cycles : 2). + 26.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555226 ms (missed cycles : 2).[0m ×2 + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017304 ms (missed cycles : 2). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017304 ms (missed cycles : 2).[0m ×2 + 28.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.348228 ms (missed cycles : 8). + 28.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.348228 ms (missed cycles : 8).[0m ×2 + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336251 ms (missed cycles : 3). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336251 ms (missed cycles : 3).[0m ×2 + 30.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.295ms + 30.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503676 ms (missed cycles : 3). + 30.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503676 ms (missed cycles : 3).[0m ×2 + 31.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.985482 ms (missed cycles : 5). + 31.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.985482 ms (missed cycles : 5).[0m ×2 + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798078 ms (missed cycles : 3). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798078 ms (missed cycles : 3).[0m ×2 + 33.37sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886199 ms (missed cycles : 3). + 34.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886199 ms (missed cycles : 3).[0m ×2 + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988352 ms (missed cycles : 2). + 35.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988352 ms (missed cycles : 2).[0m ×2 + 36.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.412212 ms (missed cycles : 6). + 36.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.412212 ms (missed cycles : 6).[0m ×2 + 37.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837484 ms (missed cycles : 3). + 37.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837484 ms (missed cycles : 3).[0m ×2 + 38.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744622 ms (missed cycles : 3). + 38.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744622 ms (missed cycles : 3).[0m ×2 + 39.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570382 ms (missed cycles : 3). + 39.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570382 ms (missed cycles : 3).[0m ×2 + 39.59sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 3.944ms + 40.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353672 ms (missed cycles : 8). + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353672 ms (missed cycles : 8).[0m ×2 + 40.51sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.353ms + 41.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.630458 ms (missed cycles : 4). + 41.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.630458 ms (missed cycles : 4).[0m ×2 + 42.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362041 ms (missed cycles : 5). + 42.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362041 ms (missed cycles : 5).[0m ×2 + 42.70sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.601ms + 43.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303420 ms (missed cycles : 2). + 43.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303420 ms (missed cycles : 2).[0m ×2 + 43.40sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 2.431ms + 44.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214832 ms (missed cycles : 2). + 44.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214832 ms (missed cycles : 2).[0m ×2 + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976520 ms (missed cycles : 3). + 45.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976520 ms (missed cycles : 3).[0m ×2 + 46.21sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 1.701ms + 46.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954908 ms (missed cycles : 2). + 46.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954908 ms (missed cycles : 2).[0m ×2 + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980381 ms (missed cycles : 3). + 47.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980381 ms (missed cycles : 3).[0m ×2 + 48.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.573208 ms (missed cycles : 6). + 48.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.573208 ms (missed cycles : 6).[0m ×2 + 49.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687565 ms (missed cycles : 4). + 49.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687565 ms (missed cycles : 4).[0m ×2 + 50.00sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 1.506ms + 50.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611949 ms (missed cycles : 3). + 50.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611949 ms (missed cycles : 3).[0m ×2 + 51.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588019 ms (missed cycles : 3). + 51.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588019 ms (missed cycles : 3).[0m ×2 + 52.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364798 ms (missed cycles : 5). + 52.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364798 ms (missed cycles : 5).[0m ×2 + 53.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 53.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992191 ms (missed cycles : 2). + 53.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992191 ms (missed cycles : 2).[0m ×2 + 54.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226960 ms (missed cycles : 2). + 54.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226960 ms (missed cycles : 2).[0m ×2 + 55.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.945512 ms (missed cycles : 6). + 55.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.945512 ms (missed cycles : 6).[0m ×2 + 56.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938001 ms (missed cycles : 3). + 56.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938001 ms (missed cycles : 3).[0m ×2 + 57.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 57.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.379179 ms (missed cycles : 6). + 57.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.379179 ms (missed cycles : 6).[0m ×2 + 58.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111728 ms (missed cycles : 2). + 58.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111728 ms (missed cycles : 2).[0m ×2 + 58.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784312885.14019203 seconds ×3 + 59.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.181ms + 59.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.579ms + 59.55sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784312885.70231485 seconds. ×3 + 59.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.087ms + 59.91sINFOobjective_server_nodeFound path in 0 iterations (1.18e-06 s). ×2 + 59.94sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012042 ms (missed cycles : 2). + 60.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012042 ms (missed cycles : 2).[0m ×2 + 61.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690018 ms (missed cycles : 4). + 61.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690018 ms (missed cycles : 4).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	147 warnings · 145 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.89sINFOmove_groupClearing octomap...[0m ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 3.76sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.76sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 3.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.68sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.68sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566293 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566293 ms (missed cycles : 2).[0m ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544635 ms (missed cycles : 3). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544635 ms (missed cycles : 3).[0m ×2 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904429 ms (missed cycles : 3).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042399 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042399 ms (missed cycles : 2).[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905450 ms (missed cycles : 3). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905450 ms (missed cycles : 3).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.869999 ms (missed cycles : 5). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.869999 ms (missed cycles : 5).[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.612464 ms (missed cycles : 5). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.612464 ms (missed cycles : 5).[0m ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433761 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433761 ms (missed cycles : 2).[0m ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609043 ms (missed cycles : 3). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609043 ms (missed cycles : 3).[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000627 ms (missed cycles : 3). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000627 ms (missed cycles : 3).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880970 ms (missed cycles : 2). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880970 ms (missed cycles : 2).[0m ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851436 ms (missed cycles : 2). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851436 ms (missed cycles : 2).[0m ×2 + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477122 ms (missed cycles : 3). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477122 ms (missed cycles : 3).[0m ×2 + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457621 ms (missed cycles : 3). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457621 ms (missed cycles : 3).[0m ×2 + 21.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447960 ms (missed cycles : 2). + 21.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447960 ms (missed cycles : 2).[0m ×2 + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367445 ms (missed cycles : 5). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367445 ms (missed cycles : 5).[0m ×2 + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751850 ms (missed cycles : 2). + 23.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751850 ms (missed cycles : 2).[0m ×2 + 23.97sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.058ms + 24.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884301 ms (missed cycles : 2). + 24.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884301 ms (missed cycles : 2).[0m ×2 + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746478 ms (missed cycles : 2). + 25.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746478 ms (missed cycles : 2).[0m ×2 + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771170 ms (missed cycles : 3). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771170 ms (missed cycles : 3).[0m ×2 + 27.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.831255 ms (missed cycles : 6). + 27.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.831255 ms (missed cycles : 6).[0m ×2 + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904333 ms (missed cycles : 3). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904333 ms (missed cycles : 3).[0m ×2 + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193748 ms (missed cycles : 5). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193748 ms (missed cycles : 5).[0m ×2 + 30.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990988 ms (missed cycles : 4). + 30.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990988 ms (missed cycles : 4).[0m ×2 + 31.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150371 ms (missed cycles : 4). + 31.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150371 ms (missed cycles : 4).[0m ×2 + 32.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516815 ms (missed cycles : 4). + 32.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516815 ms (missed cycles : 4).[0m ×2 + 33.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225734 ms (missed cycles : 2). + 33.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225734 ms (missed cycles : 2).[0m ×2 + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469984 ms (missed cycles : 5). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469984 ms (missed cycles : 5).[0m ×2 + 35.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356472 ms (missed cycles : 3). + 35.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356472 ms (missed cycles : 3).[0m ×2 + 36.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703861 ms (missed cycles : 4). + 36.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703861 ms (missed cycles : 4).[0m ×2 + 37.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.306061 ms (missed cycles : 4). + 37.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.306061 ms (missed cycles : 4).[0m ×2 + 39.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093351 ms (missed cycles : 4). + 39.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093351 ms (missed cycles : 4).[0m ×2 + 40.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743927 ms (missed cycles : 2). + 40.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743927 ms (missed cycles : 2).[0m ×2 + 41.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985775 ms (missed cycles : 3). + 41.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985775 ms (missed cycles : 3).[0m ×2 + 42.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.718228 ms (missed cycles : 5). + 42.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.718228 ms (missed cycles : 5).[0m ×2 + 43.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710556 ms (missed cycles : 3). + 43.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710556 ms (missed cycles : 3).[0m ×2 + 43.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.264ms + 44.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899494 ms (missed cycles : 2). + 44.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899494 ms (missed cycles : 2).[0m ×2 + 45.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731194 ms (missed cycles : 2). + 45.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731194 ms (missed cycles : 2).[0m ×2 + 46.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193949 ms (missed cycles : 2). + 46.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193949 ms (missed cycles : 2).[0m ×2 + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526749 ms (missed cycles : 3). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526749 ms (missed cycles : 3).[0m ×2 + 47.35sINFOjoint_trajectory_controllerGoal reached, success! + 47.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784312659.08131099 seconds ×3 + 47.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 47.94sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784312659.63641620 seconds. ×3 + 48.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772168 ms (missed cycles : 5). + 48.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772168 ms (missed cycles : 5).[0m ×2 + 48.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 48.86sINFOobjective_server_nodeFound path in 0 iterations (2.1321e-05 s). ×2 + 48.86sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907052 ms (missed cycles : 2). + 49.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907052 ms (missed cycles : 2).[0m ×2 + 50.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582028 ms (missed cycles : 3). + 50.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582028 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.0s	108 warnings · 63 info
+ 0.00sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.039ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599104 ms (missed cycles : 6). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599104 ms (missed cycles : 6).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688163 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688163 ms (missed cycles : 4).[0m ×2 + 1.91sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.91sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.92sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784312724.06742573 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.927286 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.927286 ms (missed cycles : 6).[0m ×2 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597188 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597188 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784312725.62916422 seconds. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055408 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055408 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905898 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905898 ms (missed cycles : 6).[0m ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.51sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489950 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489950 ms (missed cycles : 4).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383790 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383790 ms (missed cycles : 3).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611774 ms (missed cycles : 4). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611774 ms (missed cycles : 4).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749374 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749374 ms (missed cycles : 3).[0m ×2 + 9.56sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047622 ms (missed cycles : 4). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047622 ms (missed cycles : 4).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488192 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488192 ms (missed cycles : 2).[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636550 ms (missed cycles : 3). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636550 ms (missed cycles : 3).[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496437 ms (missed cycles : 6). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496437 ms (missed cycles : 6).[0m ×2 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201195 ms (missed cycles : 3). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201195 ms (missed cycles : 3).[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722844 ms (missed cycles : 2). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722844 ms (missed cycles : 2).[0m ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.304921 ms (missed cycles : 5). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.304921 ms (missed cycles : 5).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917974 ms (missed cycles : 2). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917974 ms (missed cycles : 2).[0m ×2 + 18.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324751 ms (missed cycles : 5). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324751 ms (missed cycles : 5).[0m ×2 + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435990 ms (missed cycles : 2). + 19.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435990 ms (missed cycles : 2).[0m ×2 + 20.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263036 ms (missed cycles : 5). + 20.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263036 ms (missed cycles : 5).[0m ×2 + 21.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853520 ms (missed cycles : 4). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853520 ms (missed cycles : 4).[0m ×2 + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210519 ms (missed cycles : 2). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210519 ms (missed cycles : 2).[0m ×2 + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933528 ms (missed cycles : 3). + 23.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933528 ms (missed cycles : 3).[0m ×2 + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604694 ms (missed cycles : 5). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604694 ms (missed cycles : 5).[0m ×2 + 26.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837994 ms (missed cycles : 2). + 26.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837994 ms (missed cycles : 2).[0m ×2 + 27.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996111 ms (missed cycles : 3). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996111 ms (missed cycles : 3).[0m ×2 + 28.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787780 ms (missed cycles : 3). + 28.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787780 ms (missed cycles : 3).[0m ×2 + 29.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966125 ms (missed cycles : 3). + 29.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966125 ms (missed cycles : 3).[0m ×2 + 30.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082475 ms (missed cycles : 2). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082475 ms (missed cycles : 2).[0m ×2 + 31.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906350 ms (missed cycles : 2). + 31.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906350 ms (missed cycles : 2).[0m ×2 + 32.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325013 ms (missed cycles : 3). + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325013 ms (missed cycles : 3).[0m ×2 + 33.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421098 ms (missed cycles : 5). + 33.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421098 ms (missed cycles : 5).[0m ×2 + 33.92sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784312756.06931496 seconds ×3 + 34.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553146 ms (missed cycles : 4). + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553146 ms (missed cycles : 4).[0m ×2 + 34.48sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784312756.62827015 seconds. ×3 + 34.84sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 35.22sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.250ms + 35.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626855 ms (missed cycles : 2). + 35.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626855 ms (missed cycles : 2).[0m ×2 + 36.08sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.13sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.334ms + 36.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702073 ms (missed cycles : 2). + 36.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702073 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	13.1s	57 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.945512 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.945512 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938001 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938001 ms (missed cycles : 3).[0m ×2 + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.379179 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.379179 ms (missed cycles : 6).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.09sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111728 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111728 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784312885.14019203 seconds ×3 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.181ms + 3.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.579ms + 3.71sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784312885.70231485 seconds. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.087ms + 4.06sINFOobjective_server_nodeFound path in 0 iterations (1.18e-06 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.11sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.11sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012042 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012042 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690018 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690018 ms (missed cycles : 4).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389907 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389907 ms (missed cycles : 4).[0m ×2 + 7.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.358ms + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816533 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816533 ms (missed cycles : 3).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115970 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115970 ms (missed cycles : 3).[0m ×2 + 8.37sINFOobjective_server_nodeFound path in 0 iterations (8.4e-07 s). ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.43sINFOobjective_server_nodeFound path in 0 iterations (1.22e-06 s). ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (1.2e-06 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 8.72sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.76sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 8.97sINFOobjective_server_nodeFound path in 29 iterations (0.0357668 s). ×2 + 9.20sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554969 ms (missed cycles : 3). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554969 ms (missed cycles : 3).[0m ×2 + 9.62sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.66sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 9.98sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.22sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439442 ms (missed cycles : 2). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439442 ms (missed cycles : 2).[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827076 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827076 ms (missed cycles : 2).[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295447 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295447 ms (missed cycles : 2).[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104491 ms (missed cycles : 2). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104491 ms (missed cycles : 2).[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.661967 ms (missed cycles : 4). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.661967 ms (missed cycles : 4).[0m ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.281842 ms (missed cycles : 5). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.281842 ms (missed cycles : 5).[0m ×2 + 16.23sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784312898.22103548 seconds ×3 + 16.35sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.342ms + 16.47sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.482ms + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333680 ms (missed cycles : 5). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333680 ms (missed cycles : 5).[0m ×2 + 16.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784312898.82218480 seconds. ×3 + 16.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.84sINFOmove_groupClearing octomap...[0m ×2 + 16.84sINFOmove_groupOctomap cleared.[0m ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046484 ms (missed cycles : 3). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046484 ms (missed cycles : 3).[0m ×2 + 18.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413201 ms (missed cycles : 3). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413201 ms (missed cycles : 3).[0m ×2 + 18.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784312900.66232514 seconds ×3 + 18.76sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.458ms + 18.86sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.069ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.7s	95 errors · 33 warnings · 427 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.281842 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.281842 ms (missed cycles : 5).[0m ×2 + 0.65sINFOjoint_trajectory_controllerGoal reached, success! + 0.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784312898.22103548 seconds ×3 + 0.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.342ms + 0.93sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.482ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333680 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333680 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784312898.82218480 seconds. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046484 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046484 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413201 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413201 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784312900.66232514 seconds ×3 + 3.22sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.458ms + 3.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.069ms + 3.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784312901.20544958 seconds. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851270 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851270 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784312901.72562504 seconds ×3 + 4.43sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123592 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123592 ms (missed cycles : 5).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837143 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837143 ms (missed cycles : 2).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230116 ms (missed cycles : 4). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230116 ms (missed cycles : 4).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767429 ms (missed cycles : 5). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767429 ms (missed cycles : 5).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029355 ms (missed cycles : 3). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029355 ms (missed cycles : 3).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666627 ms (missed cycles : 4). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666627 ms (missed cycles : 4).[0m ×2 + 10.39sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORweb_video_server-33process[web_video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 10.43sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORweb_video_auth_proxy-35process has died [pid 13599, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.44sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 10.47sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORweb_bridge_auth_proxy-34process has died [pid 13598, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.48sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORfixed_lag_smoother_node-8process[fixed_lag_smoother_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sINFOweb_video_server-33sending signal 'SIGTERM' to process[web_video_server-33] ×2 + 10.56sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 10.58sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 10.61sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 10.63sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 10.65sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 10.68sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 10.70sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 10.73sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 10.75sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 10.77sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 10.78sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 10.81sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 10.83sINFOtf2_web_republisher_node-32process has finished cleanly [pid 13596] ×2 + 10.83sINFOweb_video_server-33process has finished cleanly [pid 13597] ×2 + 10.84sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 10.87sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 10.87sINFOcontroller_managerShutdown request received.... + 10.87sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.87sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.87sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.87sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.87sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.87sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.87sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.87sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.87sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.87sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.87sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.87sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.87sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.87sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.87sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.87sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.87sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.87sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.87sINFOcontroller_managerShutting down the controller manager. + 10.90sINFOfixed_lag_smoother_node-8sending signal 'SIGTERM' to process[fixed_lag_smoother_node-8] ×2 + 10.90sERRORmove_group-21process has died [pid 13528, 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_tv0ustwx --params-file /tmp/launch_params_w_o_keff --params-file /tmp/launch_params_xg2x9p1z --params-file /tmp/launch_params_n20mwnk8 --params-file /tmp/launch_params_z8pd_tjz --params-file /tmp/launch_params_pc4oo4x0']. ×2 + 10.92sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.92sERRORui_teleop_bridge-30process has died [pid 13590, 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__grdirel']. ×2 + 10.94sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.96sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.97sINFOexecute_objective_bridge-29process has finished cleanly [pid 13589] ×2 + 10.98sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] ×2 + 11.00sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] ×2 + 11.02sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.03sERRORobjective_server_node_main-26process has died [pid 13568, 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_e0qurhh_ --params-file /tmp/launch_params_d819_x_e --params-file /tmp/launch_params_jxocypi0 --params-file /tmp/launch_params_hdh8poh2 --params-file /tmp/launch_params_f5h0j4mt --params-file /tmp/launch_params_flp7e1q7 --params-file /tmp/launch_params_6zdyc_oj --params-file /tmp/launch_params_px2zsh2d --params-file /tmp/launch_params_ug0eeolb']. ×2 + 11.04sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.04sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.04sINFOmap_serverDeactivating + 11.04sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.05sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.05sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.05sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.05sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.05sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 11.05sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.05sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.05sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.05sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.05sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.05sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.05sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.05sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.05sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.05sINFOobjective_server_node[0;m[0m[INFO] [2026-07-17 18:28:28.237] signal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.05sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOmap_serverCleaning up + 11.05sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.06sINFOcontroller_serverCleaning up + 11.06sINFOlocal_costmap.local_costmapCleaning up + 11.06sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.06sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.06sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.06sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.06sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.06sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.06sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.06sERRORmove_groupStack trace (most recent call last) in thread 14144: ×2 + 11.06sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.06sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa56eb94a63, in __clone ×2 + 11.06sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa56eb07aa3, in ×2 + 11.06sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa56ed99db3, in ×2 + 11.06sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fa56f3ee1c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.06sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa56f10c4d0, in rclcpp::Rate::sleep() ×2 + 11.06sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa56f05fa88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.06sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa56f024a71, in ×2 + 11.06sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa56ed68390, in __cxa_throw ×2 + 11.06sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa56ed52a54, in std::terminate() ×2 + 11.06sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa56ed680d9, in ×2 + 11.06sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa56ed52ff4, in ×2 + 11.06sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa56ea938fe, in abort ×2 + 11.06sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa56eab027d, in raise ×2 + 11.06sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa56eb09b2c, in pthread_kill ×2 + 11.06sINFOobjective_server_node[2026-07-17 18:28:28.377] [moveit_pro_license] [info] ×2 + 11.06sINFOobjective_server_node************************************************* ×4 + 11.06sINFOobjective_server_node* MoveIt Pro License ×2 + 11.06sINFOobjective_server_node* Application has successfully terminated ×2 + 11.06sERRORmove_groupAborted (Signal sent by tkill() 13528 0) ×2 + 11.06sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.07sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.07sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.07sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.07sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.07sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.07sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.07sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.07sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.07sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.07sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556ea3e8e6a4, in _start ×2 + 11.07sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fae214db28a, in __libc_start_main ×2 + 11.07sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fae214db1d0, in ×2 + 11.07sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fae214f8bbd, in exit ×2 + 11.07sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fae214f8a75, in ×2 + 11.07sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fae219c78f5, in spdlog::details::registry::~registry() ×2 + 11.07sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556ea3e8ed79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.07sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556ea3e95315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.07sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556ea3e945a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.07sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556ea3e90b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.07sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556ea3e8ed79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.07sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fae2207d454, in rclcpp::Node::~Node() ×2 + 11.07sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fae22038515, in ×2 + 11.07sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fae2207bd20, in ×2 + 11.07sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fae2207bc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.07sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fae220385d9, in ×2 + 11.07sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fae2203d161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.07sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fade47bb160]) ×2 + 11.07sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.08sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.08sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.08sINFOodom_qos_relay.pymain() ×2 + 11.08sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.08sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.08sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.08sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.08sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.08sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.08sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.08sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.08sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.08sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.08sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.08sERRORodom_world_drift.pyTraceback (most recent call last): ×2 + 11.08sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 130, in <module> ×2 + 11.08sINFOodom_world_drift.pymain() ×2 + 11.08sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 121, in main ×2 + 11.08sINFOodom_world_drift.pyrclpy.spin(node) ×2 + 11.08sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.08sINFOodom_world_drift.pyexecutor.spin_once() ×2 + 11.08sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.08sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) ×2 + 11.08sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.08sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.08sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.08sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.08sINFOodom_world_drift.pyreturn next(self._cb_iter) ×2 + 11.08sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.08sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.08sINFOodom_world_drift.pyraise ExternalShutdownException() ×2 + 11.08sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException ×2 + 11.08sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 11.08sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.09sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.09sINFOros2_control_nodepublish_async_failures_ 2[0m ×4 + 11.10sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.10sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.10sINFOsmoother_serverCleaning up + 11.11sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.11sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.11sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.13sERRORamclThe bond connection to the lifecycle manager has been broken + 11.14sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.14sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.14sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.14sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.14sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.14sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.14sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.14sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.14sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.14sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.14sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.61sERRORcomponent_container_isolated-1process has died [pid 13425, 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_r8gvadwr --params-file /tmp/launch_params_zxz0kyyr -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.77sINFOcomponent_container_mt-28process has finished cleanly [pid 13586] ×2 + 11.78sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 13567] ×2 + 11.81sINFOmove_joint_resampler_node-24process has finished cleanly [pid 13566] ×2 + 11.88sINFOparameter_manager_node-22process has finished cleanly [pid 13529] ×2 + 11.89sINFOwaypoint_manager_node-23process has finished cleanly [pid 13530] ×2 + 11.92sINFOcomponent_container_mt-27process has finished cleanly [pid 13569] ×2 + 11.96sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 13431] ×2 + 11.98sINFOfixed_lag_smoother_node-8process has finished cleanly [pid 13432] ×2 + 11.99sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 13430] ×2 + 12.02sINFOslip_aware_odom-4process has finished cleanly [pid 13428] ×2 + 12.07sERRORodom_qos_relay.py-5process has died [pid 13429, 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 + 12.07sINFOstatic_transform_publisher-2process has finished cleanly [pid 13426] ×2 + 13.09sERRORodom_world_drift.py-3process has died [pid 13427, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py --ros-args -r __node:=odom_world_drift']. ×2 + 13.60sINFOweb_bridge-31process has finished cleanly [pid 13591] ×2 + 13.60sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 13.70sINFOros2_control_node-9process has finished cleanly [pid 13433] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	9 errors · 51 warnings · 65 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584960 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584960 ms (missed cycles : 3).[0m ×2 + 0.12sINFOjoint_trajectory_controllerGoal reached, success! + 0.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.907751 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.907751 ms (missed cycles : 6).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752553 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752553 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714197 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714197 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.53sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 3.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784312788.98849678 seconds ×3 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.80sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.639ms + 3.91sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.445ms + 4.20sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784312789.65888953 seconds. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534724 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534724 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298639 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298639 ms (missed cycles : 2).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.792ms + 5.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.79sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.79sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.80sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.80sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284664 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284664 ms (missed cycles : 2).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500235 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500235 ms (missed cycles : 2).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264485 ms (missed cycles : 5). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264485 ms (missed cycles : 5).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768345 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768345 ms (missed cycles : 2).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998329 ms (missed cycles : 5). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998329 ms (missed cycles : 5).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771411 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771411 ms (missed cycles : 2).[0m ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144514 ms (missed cycles : 4). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144514 ms (missed cycles : 4).[0m ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672289 ms (missed cycles : 6). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672289 ms (missed cycles : 6).[0m ×2 + 14.66sINFOjoint_trajectory_controllerGot request to cancel goal + 14.66sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.66sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.66sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784312800.15081072 seconds ×3 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723597 ms (missed cycles : 2). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723597 ms (missed cycles : 2).[0m ×2 + 14.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.037ms + 14.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.294ms + 15.25sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784312800.70319057 seconds. ×3 + 15.60sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051405 ms (missed cycles : 6). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051405 ms (missed cycles : 6).[0m ×2 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698855 ms (missed cycles : 2). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698855 ms (missed cycles : 2).[0m ×2 + 17.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.402ms
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	5.6s	36 warnings · 64 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642780 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642780 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261536 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261536 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830723 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830723 ms (missed cycles : 4).[0m ×2 + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962634 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962634 ms (missed cycles : 6).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.49sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784312719.47709179 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.027ms + 3.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.069ms + 4.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784312720.04727483 seconds. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044207 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044207 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.46sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.46sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.46sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.746ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014150 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014150 ms (missed cycles : 5).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.039ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599104 ms (missed cycles : 6). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599104 ms (missed cycles : 6).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688163 ms (missed cycles : 4). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688163 ms (missed cycles : 4).[0m ×2 + 8.12sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784312724.06742573 seconds ×3 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.927286 ms (missed cycles : 6). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.927286 ms (missed cycles : 6).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597188 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597188 ms (missed cycles : 2).[0m ×2 + 9.68sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784312725.62916422 seconds. ×3 + 10.03sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055408 ms (missed cycles : 4). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055408 ms (missed cycles : 4).[0m ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905898 ms (missed cycles : 6). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905898 ms (missed cycles : 6).[0m ×2 + 11.46sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.6s	30 warnings · 62 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899494 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899494 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731194 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731194 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193949 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193949 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526749 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526749 ms (missed cycles : 3).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.16sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784312659.08131099 seconds ×3 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 3.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784312659.63641620 seconds. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772168 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772168 ms (missed cycles : 5).[0m ×2 + 4.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1321e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.69sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.69sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.69sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.69sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907052 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907052 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582028 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582028 ms (missed cycles : 3).[0m ×2 + 6.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784312662.68658948 seconds ×3 + 7.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608787 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608787 ms (missed cycles : 2).[0m ×2 + 7.36sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784312663.24692726 seconds. ×3 + 7.71sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 7.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139453 ms (missed cycles : 4). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139453 ms (missed cycles : 4).[0m ×2 + 9.23sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281758 ms (missed cycles : 3). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281758 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	2.4s	27 warnings · 36 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295447 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295447 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104491 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104491 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.661967 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.661967 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.281842 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.281842 ms (missed cycles : 5).[0m ×2 + 3.71sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784312898.22103548 seconds ×3 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.87sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.342ms + 3.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.482ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333680 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333680 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784312898.82218480 seconds. ×3 + 4.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.36sINFOmove_groupClearing octomap...[0m ×2 + 4.36sINFOmove_groupOctomap cleared.[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046484 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046484 ms (missed cycles : 3).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413201 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413201 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784312900.66232514 seconds ×3 + 6.28sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.458ms + 6.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.069ms + 6.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784312901.20544958 seconds. ×3 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851270 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851270 ms (missed cycles : 2).[0m ×2 + 7.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784312901.72562504 seconds ×3 + 7.49sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123592 ms (missed cycles : 5). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123592 ms (missed cycles : 5).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082475 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082475 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906350 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906350 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325013 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325013 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421098 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421098 ms (missed cycles : 5).[0m ×2 + 3.64sINFOjoint_trajectory_controllerGoal reached, success! + 3.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784312756.06931496 seconds ×3 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553146 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553146 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784312756.62827015 seconds. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.99sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.250ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626855 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626855 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.334ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702073 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702073 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 112 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.89sINFOmove_groupClearing octomap...[0m ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 3.76sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.76sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 3.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566293 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566293 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899494 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899494 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731194 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731194 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193949 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193949 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526749 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526749 ms (missed cycles : 3).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784312659.08131099 seconds ×3 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 3.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784312659.63641620 seconds. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772168 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772168 ms (missed cycles : 5).[0m ×2 + 4.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1321e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOjoint_trajectory_controllerReceived new action goal + 4.69sINFOjoint_trajectory_controllerAccepted new action goal + 4.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907052 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907052 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582028 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582028 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899494 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899494 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731194 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731194 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193949 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193949 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526749 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526749 ms (missed cycles : 3).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784312659.08131099 seconds ×3 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 3.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784312659.63641620 seconds. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772168 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772168 ms (missed cycles : 5).[0m ×2 + 4.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1321e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOjoint_trajectory_controllerReceived new action goal + 4.69sINFOjoint_trajectory_controllerAccepted new action goal + 4.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907052 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907052 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582028 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582028 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 5.19sINFOobjective_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 + 5.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 5.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	21 warnings · 62 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526749 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526749 ms (missed cycles : 3).[0m ×2 + 0.04sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.04sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784312659.08131099 seconds ×3 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 0.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784312659.63641620 seconds. ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772168 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772168 ms (missed cycles : 5).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 1.54sINFOobjective_server_nodeFound path in 0 iterations (2.1321e-05 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.56sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.56sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.56sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.56sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907052 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907052 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582028 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582028 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784312662.68658948 seconds ×3 + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608787 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608787 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784312663.24692726 seconds. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139453 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139453 ms (missed cycles : 4).[0m ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281758 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281758 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 3.642780 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642780 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261536 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261536 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830723 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830723 ms (missed cycles : 4).[0m ×2 + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962634 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962634 ms (missed cycles : 6).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784312719.47709179 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.027ms + 3.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.069ms + 4.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784312720.04727483 seconds. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044207 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044207 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.46sINFOjoint_trajectory_controllerReceived new action goal + 4.46sINFOjoint_trajectory_controllerAccepted new action goal + 4.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.746ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014150 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014150 ms (missed cycles : 5).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.039ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599104 ms (missed cycles : 6). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599104 ms (missed cycles : 6).[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 3.642780 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642780 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261536 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261536 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830723 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830723 ms (missed cycles : 4).[0m ×2 + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962634 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962634 ms (missed cycles : 6).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784312719.47709179 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.027ms + 3.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.069ms + 4.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784312720.04727483 seconds. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044207 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044207 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.46sINFOjoint_trajectory_controllerReceived new action goal + 4.46sINFOjoint_trajectory_controllerAccepted new action goal + 4.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.746ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014150 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014150 ms (missed cycles : 5).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.039ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599104 ms (missed cycles : 6). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599104 ms (missed cycles : 6).[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 3.642780 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642780 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261536 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261536 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830723 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830723 ms (missed cycles : 4).[0m ×2 + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962634 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962634 ms (missed cycles : 6).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784312719.47709179 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.027ms + 3.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.069ms + 4.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784312720.04727483 seconds. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044207 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044207 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.46sINFOjoint_trajectory_controllerReceived new action goal + 4.46sINFOjoint_trajectory_controllerAccepted new action goal + 4.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.746ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014150 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014150 ms (missed cycles : 5).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.039ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599104 ms (missed cycles : 6). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599104 ms (missed cycles : 6).[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 3.642780 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642780 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261536 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261536 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830723 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830723 ms (missed cycles : 4).[0m ×2 + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962634 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962634 ms (missed cycles : 6).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784312719.47709179 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.027ms + 3.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.069ms + 4.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784312720.04727483 seconds. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044207 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044207 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.46sINFOjoint_trajectory_controllerReceived new action goal + 4.46sINFOjoint_trajectory_controllerAccepted new action goal + 4.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.746ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014150 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014150 ms (missed cycles : 5).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.039ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599104 ms (missed cycles : 6). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599104 ms (missed cycles : 6).[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 3.642780 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642780 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261536 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261536 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830723 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830723 ms (missed cycles : 4).[0m ×2 + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962634 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962634 ms (missed cycles : 6).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784312719.47709179 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.027ms + 3.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.069ms + 4.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784312720.04727483 seconds. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044207 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044207 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.46sINFOjoint_trajectory_controllerReceived new action goal + 4.46sINFOjoint_trajectory_controllerAccepted new action goal + 4.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.746ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014150 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014150 ms (missed cycles : 5).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.039ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599104 ms (missed cycles : 6). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599104 ms (missed cycles : 6).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082475 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082475 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906350 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906350 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325013 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325013 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421098 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421098 ms (missed cycles : 5).[0m ×2 + 3.64sINFOjoint_trajectory_controllerGoal reached, success! + 3.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784312756.06931496 seconds ×3 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553146 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553146 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784312756.62827015 seconds. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.99sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.250ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626855 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626855 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.334ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702073 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702073 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082475 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082475 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906350 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906350 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325013 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325013 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421098 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421098 ms (missed cycles : 5).[0m ×2 + 3.64sINFOjoint_trajectory_controllerGoal reached, success! + 3.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784312756.06931496 seconds ×3 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553146 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553146 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784312756.62827015 seconds. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.99sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.250ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626855 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626855 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.334ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702073 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702073 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 5.19sINFOobjective_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 + 5.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 5.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2
− skipped	Point-to-Point Trajectory	point-to-point_trajectory.xml	0.0s	6 errors · 21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784312829.94338965 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.905ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.598ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784312830.55001235 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.854ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.06sINFOjoint_trajectory_controllerReceived new action goal + 6.06sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	6 errors · 21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784312829.94338965 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.905ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.598ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784312830.55001235 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.854ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.06sINFOjoint_trajectory_controllerReceived new action goal + 6.06sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 5.19sINFOobjective_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 + 5.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 5.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	6 errors · 21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784312829.94338965 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.905ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.598ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784312830.55001235 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.854ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.06sINFOjoint_trajectory_controllerReceived new action goal + 6.06sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	6 errors · 21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784312829.94338965 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.905ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.598ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784312830.55001235 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.854ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.06sINFOjoint_trajectory_controllerReceived new action goal + 6.06sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	6 errors · 21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784312829.94338965 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.905ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.598ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784312830.55001235 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.854ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.06sINFOjoint_trajectory_controllerReceived new action goal + 6.06sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	6 errors · 21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784312829.94338965 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.905ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.598ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784312830.55001235 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.854ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.06sINFOjoint_trajectory_controllerReceived new action goal + 6.06sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	6 errors · 21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784312829.94338965 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.905ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.598ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784312830.55001235 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.854ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.06sINFOjoint_trajectory_controllerReceived new action goal + 6.06sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	6 errors · 21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793405 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628955 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510091 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584351 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784312829.94338965 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.905ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.598ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508033 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784312830.55001235 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.854ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694293 ms (missed cycles : 6).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.06sINFOjoint_trajectory_controllerReceived new action goal + 6.06sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789469 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	21 warnings · 30 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295447 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295447 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104491 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104491 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.661967 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.661967 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.281842 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.281842 ms (missed cycles : 5).[0m ×2 + 3.71sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784312898.22103548 seconds ×3 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.87sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.342ms + 3.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.482ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333680 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333680 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784312898.82218480 seconds. ×3 + 4.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.36sINFOmove_groupClearing octomap...[0m ×2 + 4.36sINFOmove_groupOctomap cleared.[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046484 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046484 ms (missed cycles : 3).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413201 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413201 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784312900.66232514 seconds ×3 + 6.28sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.458ms + 6.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.069ms
− 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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[0m ×2

▾(no parent)

1 pass

✓ passed	—	test_base_link_has_single_tf_parent	30.6s	67 errors · 692 warnings · 1880 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/2026-07-17-18-17-28-179855-e6ab105aeed0-9246 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 12.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×3 + 12.89sINFOros2_control_node-9process started with pid [9304] + 12.90sINFOmove_group-21process started with pid [9386] + 12.90sINFOparameter_manager_node-22process started with pid [9387] + 12.90sINFOwaypoint_manager_node-23process started with pid [9394] + 12.90sINFOmove_joint_resampler_node-24process started with pid [9414] + 12.90sINFOmove_end_effector_resampler_node-25process started with pid [9416] + 12.90sINFOobjective_server_node_main-26process started with pid [9417] + 12.90sINFOcomponent_container_mt-27process started with pid [9418] + 12.90sINFOcomponent_container_mt-28process started with pid [9435] + 12.90sINFOexecute_objective_bridge-29process started with pid [9436] + 12.90sINFOui_teleop_bridge-30process started with pid [9437] + 12.91sINFOweb_bridge-31process started with pid [9438] + 12.91sINFOtf2_web_republisher_node-32process started with pid [9443] + 12.91sINFOweb_video_server-33process started with pid [9446] + 12.91sINFOweb_bridge_auth_proxy-34process started with pid [9463] + 12.91sINFOweb_video_auth_proxy-35process started with pid [9464] + 12.92sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 12.92sINFOcomponent_container_isolated-1process started with pid [9296] + 12.92sINFOstatic_transform_publisher-2process started with pid [9297] + 12.92sINFOodom_world_drift.py-3process started with pid [9298] + 12.92sINFOslip_aware_odom-4process started with pid [9299] + 12.92sINFOodom_qos_relay.py-5process started with pid [9300] + 12.92sINFOscan_to_scan_filter_chain-6process started with pid [9301] + 12.92sINFOscan_to_scan_filter_chain-7process started with pid [9302] + 12.92sINFOfixed_lag_smoother_node-8process started with pid [9303] + 12.92sINFOros2-10process started with pid [9362] + 12.92sINFOros2-11process started with pid [9363] + 12.92sINFOros2-12process started with pid [9368] + 12.92sINFOros2-13process started with pid [9371] + 12.92sINFOros2-14process started with pid [9376] + 12.92sINFOros2-15process started with pid [9378] + 12.92sINFOros2-16process started with pid [9379] + 12.92sINFOros2-17process started with pid [9380] + 12.92sINFOros2-18process started with pid [9381] + 12.93sINFOros2-19process started with pid [9382] + 12.93sINFOros2-20process started with pid [9385] + 13.00sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×3 + 13.00sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×3 + 13.00sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 13.00sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 13.00sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 13.00sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 13.00sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 13.00sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 13.00sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 13.00sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 13.00sWARNros2_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 + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284487 ms (missed cycles : 2).[0m + 13.06sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 13.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 13.07sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 13.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 13.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 13.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.14sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 13.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 13.25sINFOcomponent_container_mtRobot initialized[0m ×3 + 13.25sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 13.26sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 13.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 13.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 13.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 13.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 13.31sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 13.35sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 13.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 13.39sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 13.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 13.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 13.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 13.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 13.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 13.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 13.57sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 13.59sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 13.59sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 13.59sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×3 + 13.66sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×6 + 13.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 13.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 13.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 13.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 13.96sINFOmove_groupLoaded robot model in 0.32529 seconds[0m + 13.96sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 13.96sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767773 ms (missed cycles : 4).[0m + 14.08sINFOwaypoint_manager_nodeLoaded robot model in 0.408996 seconds[0m + 14.08sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 14.09sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.67sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 14.67sWARNmove_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 + 14.67sWARNmove_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 + 14.67sWARNmove_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 + 14.67sWARNmove_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 + 14.67sWARNmove_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 + 14.68sWARNmove_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 + 14.68sWARNmove_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 + 14.68sWARNmove_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 + 14.68sWARNmove_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 + 14.68sWARNmove_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 + 14.69sWARNwaypoint_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 + 14.69sWARNwaypoint_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 + 14.69sWARNwaypoint_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 + 14.69sWARNwaypoint_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 + 14.70sWARNwaypoint_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 + 14.70sWARNwaypoint_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 + 14.70sWARNwaypoint_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 + 14.70sWARNwaypoint_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 + 14.71sWARNwaypoint_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 + 14.71sWARNwaypoint_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 + 14.71sWARNwaypoint_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 + 14.71sWARNwaypoint_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 + 14.72sWARNwaypoint_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 + 14.72sWARNwaypoint_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 + 14.73sWARNwaypoint_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 + 14.73sWARNwaypoint_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 + 14.73sWARNwaypoint_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 + 14.73sWARNwaypoint_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 + 14.74sWARNwaypoint_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 + 14.74sWARNwaypoint_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 + 14.74sWARNwaypoint_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 + 14.74sWARNwaypoint_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 + 14.76sWARNwaypoint_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 + 14.76sWARNwaypoint_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 + 14.77sWARNwaypoint_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 + 14.77sWARNwaypoint_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 + 14.77sWARNwaypoint_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 + 14.77sWARNwaypoint_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 + 14.89sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×14 + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153251 ms (missed cycles : 2).[0m + 15.15sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 15.15sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 15.33sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 15.34sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.34sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 15.34sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 15.35sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 15.35sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.35sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 15.35sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 15.35sINFOmove_groupStopped publishing maintained planning scene.[0m ×4 + 15.35sINFOmove_groupStarting planning scene monitor[0m ×3 + 15.36sINFOmove_groupListening to '/planning_scene'[0m ×3 + 15.36sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 15.36sINFOmove_groupListening to 'collision_object'[0m ×3 + 15.36sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 15.81sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 15.81sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 15.81sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 15.81sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 15.81sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 15.81sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 15.81sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 15.81sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 15.81sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 15.81sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 15.81sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 15.81sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 15.81sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 15.81sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 15.81sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 15.81sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 15.81sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 15.81sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 15.81sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 15.81sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 15.84sWARNros2_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 + 15.90sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 15.90sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 16.03sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c4ty49u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2_sqz9oi --params-file /tmp/launch_params_l409lhok [0m + 16.06sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 16.06sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 16.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 16.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 16.10sINFOobjective_server_node[2026-07-17 18:17:47.474] [moveit_pro_license] [info] + 16.10sINFOobjective_server_node************************************************* ×8 + 16.10sINFOobjective_server_node* MoveIt Pro License ×4 + 16.10sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604694 ms (missed cycles : 2).[0m + 16.19sINFOobjective_server_nodeLoaded robot model in 0.0274345 seconds[0m + 16.19sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 16.19sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 16.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 16.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 16.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 16.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 16.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 16.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 16.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 16.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 16.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 16.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 16.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 16.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 16.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 16.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 16.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 16.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 16.23sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 16.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.44sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.46sINFOros2_control_node[2026-07-17 18:17:47.838] [info] Controller state will be published at 20 Hz. + 16.47sWARNcomponent_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 + 16.47sINFOros2_control_node[2026-07-17 18:17:47.841] [info] JointVelocityController 'on_configure' succeeded. + 16.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.54sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.56sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 16.56sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 16.56sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 16.56sINFOcomponent_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 + 16.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 16.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 16.61sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 16.61sWARNobjective_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 + 16.61sWARNobjective_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 + 16.61sWARNobjective_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 + 16.61sWARNobjective_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 + 16.61sWARNobjective_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 + 16.61sWARNobjective_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 + 16.61sWARNobjective_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 + 16.61sWARNobjective_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 + 16.61sWARNobjective_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 + 16.61sWARNobjective_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 + 16.69sINFOobjective_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 + 16.69sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 16.72sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 16.72sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 16.72sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 16.72sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 16.72sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 16.72sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 16.72sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 16.82sINFOros2-19process has finished cleanly [pid 9382] + 16.83sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 16.83sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 16.84sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 16.86sINFOcomponent_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 + 16.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 16.87sINFOcomponent_container_mtLoaded robot model in 0.413911 seconds[0m + 16.87sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 16.88sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.88sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 16.88sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 16.92sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 16.93sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 16.93sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 16.93sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 16.93sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 16.93sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 16.93sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 16.98sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 17.03sINFOmove_group ×12 + 17.03sINFOmove_group******************************************************** ×6 + 17.03sINFOmove_group* MoveGroup using: ×3 + 17.03sINFOmove_group* - apply_planning_scene_service ×3 + 17.03sINFOmove_group* - clear_octomap_service ×3 + 17.03sINFOmove_group* - get_group_urdf ×3 + 17.03sINFOmove_group* - load_geometry_from_file ×3 + 17.03sINFOmove_group* - get_planning_scene_service ×3 + 17.03sINFOmove_group* - kinematics_service ×3 + 17.03sINFOmove_group* - save_geometry_to_file ×3 + 17.03sINFOmove_group* - GetPlanningGroups ×3 + 17.03sINFOmove_group* - URDFPlanningSceneCapability ×3 + 17.03sINFOmove_group[0m ×3 + 17.03sINFOmove_group[92mYou can start planning now![0m ×3 + 17.08sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 17.08sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 17.08sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c4ty49u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2_sqz9oi --params-file /tmp/launch_params_l409lhok [0m + 17.11sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 17.11sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 17.12sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 17.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 17.12sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 17.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_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 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.23sWARNcomponent_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 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.370973 ms (missed cycles : 8).[0m + 17.46sINFOros2-11process has finished cleanly [pid 9363] + 17.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 17.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 17.57sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c4ty49u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2_sqz9oi --params-file /tmp/launch_params_l409lhok [0m + 17.60sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 17.60sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 17.65sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 17.66sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 17.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 17.67sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 17.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 17.88sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 17.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 17.97sINFOros2_control_node[2026-07-17 18:17:49.349] [warning] No force/torque sensor configured. The VFC will ignore force references. + 17.98sINFOros2_control_node[2026-07-17 18:17:49.353] [info] Controller state will be published at 10 Hz. + 17.98sINFOros2_control_node[2026-07-17 18:17:49.355] [info] VelocityForceController 'on_configure' succeeded. + 17.99sWARNobjective_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 + 18.31sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 18.31sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 18.32sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4c4ty49u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2_sqz9oi --params-file /tmp/launch_params_l409lhok [0m + 18.35sINFOros2-17process has finished cleanly [pid 9380] + 18.39sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 18.39sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 18.40sINFOros2_control_nodeconfigure successful[0m ×9 + 18.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196947 ms (missed cycles : 2).[0m + 18.75sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 18.82sINFOros2-15process has finished cleanly [pid 9378] + 19.08sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 19.08sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 19.08sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c4ty49u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2_sqz9oi --params-file /tmp/launch_params_l409lhok [0m + 19.10sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 19.11sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 19.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 19.12sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 19.48sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 19.48sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 19.48sINFOros2-13process has finished cleanly [pid 9371] + 19.48sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c4ty49u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2_sqz9oi --params-file /tmp/launch_params_l409lhok [0m + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950881 ms (missed cycles : 5).[0m + 19.55sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 19.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 19.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 19.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 19.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 19.58sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 19.58sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 19.90sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 19.90sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 19.90sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4c4ty49u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2_sqz9oi --params-file /tmp/launch_params_l409lhok [0m + 19.93sINFOros2-12process has finished cleanly [pid 9368] + 19.97sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 19.97sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 19.98sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 19.99sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 20.48sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 20.48sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 20.48sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c4ty49u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2_sqz9oi --params-file /tmp/launch_params_l409lhok [0m + 20.50sINFOros2-10process has finished cleanly [pid 9362] + 20.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947439 ms (missed cycles : 2).[0m + 20.57sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 20.57sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 20.95sINFOros2_control_node[2026-07-17 18:17:52.320] [info] Controller state will be published at 20 Hz. + 20.95sINFOros2_control_node[2026-07-17 18:17:52.322] [info] JointVelocityController 'on_configure' succeeded. + 21.31sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 21.31sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 21.32sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c4ty49u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2_sqz9oi --params-file /tmp/launch_params_l409lhok [0m + 21.32sINFOros2-20process has finished cleanly [pid 9385] + 21.45sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 21.45sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 21.45sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 21.45sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 21.45sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 21.46sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 21.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 21.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793325 ms (missed cycles : 5).[0m + 21.80sINFOros2-16process has finished cleanly [pid 9379] + 21.81sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 21.82sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 21.82sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4c4ty49u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2_sqz9oi --params-file /tmp/launch_params_l409lhok [0m + 21.91sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 21.92sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 22.28sINFOros2_control_node[2026-07-17 18:17:53.656] [warning] No force/torque sensor configured. The VFC will ignore force references. + 22.28sINFOros2_control_node[2026-07-17 18:17:53.659] [info] Controller state will be published at 10 Hz. + 22.28sINFOros2_control_node[2026-07-17 18:17:53.660] [info] VelocityForceController 'on_configure' succeeded. + 22.65sINFOros2-18process has finished cleanly [pid 9381] + 22.67sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 22.67sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 22.68sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4c4ty49u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2_sqz9oi --params-file /tmp/launch_params_l409lhok [0m + 22.70sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 22.74sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 22.74sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 22.74sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 22.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521424 ms (missed cycles : 3).[0m + 22.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 22.77sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 22.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 22.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 23.10sINFOros2-14process has finished cleanly [pid 9376] + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.903767 ms (missed cycles : 7).[0m + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.610703 ms (missed cycles : 6).[0m + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240847 ms (missed cycles : 4).[0m + 25.85sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431227 ms (missed cycles : 3).[0m + 27.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411786 ms (missed cycles : 2).[0m + 28.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312279.48145080 seconds. + 28.11sINFOmove_groupClearing octomap...[0m ×4 + 28.11sINFOmove_groupOctomap cleared.[0m ×4 + 28.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312279.49170613 seconds + 28.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312280.05438852 seconds. + 28.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312280.06455708 seconds + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.686138 ms (missed cycles : 5).[0m + 29.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312280.61133075 seconds. + 29.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312280.76206040 seconds + 29.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312281.34150505 seconds. + 29.99sINFOobjective_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 + 29.99sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m + 29.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 29.99sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m + 30.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 30.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 30.02sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m + 30.03sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861912 ms (missed cycles : 3).[0m + 30.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312281.41166210 seconds + 30.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312281.96198344 seconds. + 30.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 30.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 30.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 30.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 31.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342275 ms (missed cycles : 4).[0m + 31.66sINFOobjective_server_nodePlanning for 177 path waypoints. + 31.94sINFOros2_control_nodeReceived new action goal[0m ×13 + 31.94sINFOros2_control_nodeAccepted new action goal[0m ×13 + 32.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491708 ms (missed cycles : 3).[0m + 33.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.855701 ms (missed cycles : 5).[0m + 34.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.780346 ms (missed cycles : 6).[0m + 35.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.475943 ms (missed cycles : 5).[0m + 36.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848785 ms (missed cycles : 2).[0m + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696553 ms (missed cycles : 3).[0m + 38.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065935 ms (missed cycles : 4).[0m + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594503 ms (missed cycles : 6).[0m + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968179 ms (missed cycles : 2).[0m + 41.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672628 ms (missed cycles : 2).[0m + 42.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032035 ms (missed cycles : 2).[0m + 43.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178023 ms (missed cycles : 2).[0m + 44.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974612 ms (missed cycles : 2).[0m + 45.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.718470 ms (missed cycles : 5).[0m + 46.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561303 ms (missed cycles : 3).[0m + 47.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.456586 ms (missed cycles : 5).[0m + 48.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.081689 ms (missed cycles : 7).[0m + 49.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220186 ms (missed cycles : 2).[0m + 50.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007709 ms (missed cycles : 3).[0m + 51.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623493 ms (missed cycles : 3).[0m + 52.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668556 ms (missed cycles : 2).[0m + 53.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396512 ms (missed cycles : 4).[0m + 54.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648996 ms (missed cycles : 2).[0m + 55.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.792213 ms (missed cycles : 5).[0m + 56.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671767 ms (missed cycles : 2).[0m + 57.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444505 ms (missed cycles : 6).[0m + 58.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402247 ms (missed cycles : 3).[0m + 59.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528875 ms (missed cycles : 5).[0m + 60.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.285127 ms (missed cycles : 4).[0m + 61.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832726 ms (missed cycles : 5).[0m + 63.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329645 ms (missed cycles : 2).[0m + 64.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856596 ms (missed cycles : 3).[0m + 65.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996735 ms (missed cycles : 5).[0m + 66.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535478 ms (missed cycles : 2).[0m + 67.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.745922 ms (missed cycles : 6).[0m + 68.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594414 ms (missed cycles : 3).[0m + 69.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.405281 ms (missed cycles : 4).[0m + 70.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750651 ms (missed cycles : 3).[0m + 71.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294015 ms (missed cycles : 2).[0m + 72.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589683 ms (missed cycles : 3).[0m + 73.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056680 ms (missed cycles : 2).[0m + 73.60sINFOros2_control_nodeGoal reached, success![0m ×12 + 73.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784312325.02335405 seconds + 74.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784312325.57603717 seconds. + 74.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741797 ms (missed cycles : 3).[0m + 75.16sINFOobjective_server_nodeFound path in 0 iterations (2.6871e-05 s). + 75.16sINFOobjective_server_nodePath shortcutter: [X____X] + 75.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 75.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856674 ms (missed cycles : 2).[0m + 76.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767624 ms (missed cycles : 2).[0m + 77.28sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784312328.65620494 seconds + 77.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259553 ms (missed cycles : 4).[0m + 77.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784312329.21155977 seconds. + 78.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 78.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983662 ms (missed cycles : 2).[0m + 79.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815115 ms (missed cycles : 2).[0m + 79.69sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 80.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747953 ms (missed cycles : 4).[0m + 81.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659122 ms (missed cycles : 2).[0m + 82.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762883 ms (missed cycles : 3).[0m + 83.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710310 ms (missed cycles : 2).[0m + 84.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644605 ms (missed cycles : 3).[0m + 85.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849868 ms (missed cycles : 2).[0m + 85.86sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m + 86.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.433425 ms (missed cycles : 4).[0m + 87.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115462 ms (missed cycles : 3).[0m + 88.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368280 ms (missed cycles : 4).[0m + 89.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728396 ms (missed cycles : 2).[0m + 90.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114108 ms (missed cycles : 2).[0m + 91.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655998 ms (missed cycles : 3).[0m + 92.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.583003 ms (missed cycles : 7).[0m + 94.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487106 ms (missed cycles : 3).[0m + 95.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388769 ms (missed cycles : 4).[0m + 96.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302984 ms (missed cycles : 2).[0m + 97.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007136 ms (missed cycles : 3).[0m + 98.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026323 ms (missed cycles : 2).[0m + 99.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396770 ms (missed cycles : 4).[0m +100.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026359 ms (missed cycles : 2).[0m +101.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050712 ms (missed cycles : 2).[0m +102.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.355884 ms (missed cycles : 7).[0m +103.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008155 ms (missed cycles : 2).[0m +104.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994258 ms (missed cycles : 2).[0m +105.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915889 ms (missed cycles : 2).[0m +106.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414781 ms (missed cycles : 2).[0m +107.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901073 ms (missed cycles : 2).[0m +108.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.330051 ms (missed cycles : 7).[0m +108.64sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +109.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947629 ms (missed cycles : 2).[0m +110.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115708 ms (missed cycles : 2).[0m +111.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094090 ms (missed cycles : 2).[0m +112.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686602 ms (missed cycles : 6).[0m +113.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355355 ms (missed cycles : 4).[0m +114.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510144 ms (missed cycles : 3).[0m +115.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276653 ms (missed cycles : 2).[0m +116.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.710797 ms (missed cycles : 6).[0m +117.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711555 ms (missed cycles : 3).[0m +118.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905994 ms (missed cycles : 2).[0m +119.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490891 ms (missed cycles : 2).[0m +120.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192216 ms (missed cycles : 2).[0m +122.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.363327 ms (missed cycles : 7).[0m +123.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603267 ms (missed cycles : 4).[0m +124.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107173 ms (missed cycles : 3).[0m +125.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.017539 ms (missed cycles : 7).[0m +126.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941068 ms (missed cycles : 3).[0m +127.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893659 ms (missed cycles : 3).[0m +128.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155003 ms (missed cycles : 3).[0m +129.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622544 ms (missed cycles : 6).[0m +130.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121494 ms (missed cycles : 2).[0m +131.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709167 ms (missed cycles : 3).[0m +132.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726977 ms (missed cycles : 3).[0m +133.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.345830 ms (missed cycles : 4).[0m +134.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784312385.59172678 seconds +134.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341547 ms (missed cycles : 4).[0m +134.80sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784312386.17515898 seconds. +135.14sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). +135.16sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +135.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688539 ms (missed cycles : 4).[0m +136.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777936 ms (missed cycles : 3).[0m +137.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762162 ms (missed cycles : 2).[0m +138.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.753248 ms (missed cycles : 5).[0m +138.83sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784312390.20532846 seconds +139.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947406 ms (missed cycles : 2).[0m +140.39sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784312391.76539898 seconds. +140.76sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). +140.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393202 ms (missed cycles : 2).[0m +141.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335316 ms (missed cycles : 3).[0m +142.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +142.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975560 ms (missed cycles : 2).[0m +143.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019079 ms (missed cycles : 2).[0m +144.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059367 ms (missed cycles : 2).[0m +145.87sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m +146.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212461 ms (missed cycles : 3).[0m +147.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380224 ms (missed cycles : 4).[0m +148.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898357 ms (missed cycles : 3).[0m +149.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917925 ms (missed cycles : 3).[0m +150.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122235 ms (missed cycles : 4).[0m +151.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173768 ms (missed cycles : 2).[0m +152.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105809 ms (missed cycles : 2).[0m +153.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373523 ms (missed cycles : 4).[0m +154.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192153 ms (missed cycles : 2).[0m +155.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398844 ms (missed cycles : 3).[0m +156.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915000 ms (missed cycles : 3).[0m +157.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209051 ms (missed cycles : 5).[0m +158.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872214 ms (missed cycles : 2).[0m +159.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032840 ms (missed cycles : 4).[0m +160.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974967 ms (missed cycles : 2).[0m +161.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.405990 ms (missed cycles : 4).[0m +162.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913451 ms (missed cycles : 2).[0m +163.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998341 ms (missed cycles : 3).[0m +164.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210524 ms (missed cycles : 2).[0m +165.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350924 ms (missed cycles : 2).[0m +166.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220078 ms (missed cycles : 2).[0m +167.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797710 ms (missed cycles : 3).[0m +168.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.742214 ms (missed cycles : 6).[0m +169.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903238 ms (missed cycles : 3).[0m +170.69sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784312422.06555438 seconds +170.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111143 ms (missed cycles : 3).[0m +171.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784312422.62710094 seconds. +171.61sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). +171.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558411 ms (missed cycles : 3).[0m +172.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 +172.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240941 ms (missed cycles : 3).[0m +174.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396634 ms (missed cycles : 2).[0m +175.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122712 ms (missed cycles : 2).[0m +176.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478335 ms (missed cycles : 4).[0m +177.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262295 ms (missed cycles : 3).[0m +178.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102803 ms (missed cycles : 5).[0m +179.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396622 ms (missed cycles : 3).[0m +180.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034023 ms (missed cycles : 3).[0m +181.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528529 ms (missed cycles : 4).[0m +182.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612753 ms (missed cycles : 3).[0m +183.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025976 ms (missed cycles : 2).[0m +184.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486962 ms (missed cycles : 3).[0m +185.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406947 ms (missed cycles : 4).[0m +186.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233832 ms (missed cycles : 2).[0m +187.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707421 ms (missed cycles : 3).[0m +188.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.408415 ms (missed cycles : 7).[0m +189.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525086 ms (missed cycles : 2).[0m +190.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299648 ms (missed cycles : 5).[0m +191.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457577 ms (missed cycles : 4).[0m +192.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392052 ms (missed cycles : 4).[0m +193.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705799 ms (missed cycles : 2).[0m +194.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.063408 ms (missed cycles : 7).[0m +195.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802173 ms (missed cycles : 3).[0m +196.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.297757 ms (missed cycles : 7).[0m +198.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632334 ms (missed cycles : 3).[0m +199.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159572 ms (missed cycles : 3).[0m +200.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334331 ms (missed cycles : 3).[0m +201.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.136557 ms (missed cycles : 6).[0m +202.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158927 ms (missed cycles : 2).[0m +203.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791801 ms (missed cycles : 2).[0m +203.55sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. +203.56sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. +203.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784312454.93733764 seconds +204.25sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784312455.62345099 seconds. +204.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.299455 ms (missed cycles : 7).[0m +204.59sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 +205.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019470 ms (missed cycles : 2).[0m +205.87sINFOros2_control_nodeMuJoCo sim: 0.71% of iterations over time budget. Below 1% expected for non-realtime.[0m +206.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507586 ms (missed cycles : 2).[0m +207.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917966 ms (missed cycles : 2).[0m +208.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552472 ms (missed cycles : 3).[0m +209.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.075732 ms (missed cycles : 5).[0m +210.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820618 ms (missed cycles : 3).[0m +211.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123645 ms (missed cycles : 4).[0m +212.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742511 ms (missed cycles : 2).[0m +213.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852330 ms (missed cycles : 2).[0m +214.26sINFOros2_control_nodeGot request to cancel goal[0m +214.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +214.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784312465.65299010 seconds +214.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830989 ms (missed cycles : 2).[0m +214.84sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784312466.21239758 seconds. +215.19sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). +215.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152486 ms (missed cycles : 2).[0m +216.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.445382 ms (missed cycles : 4).[0m +217.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108097 ms (missed cycles : 2).[0m +218.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437623 ms (missed cycles : 3).[0m +219.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816808 ms (missed cycles : 2).[0m +220.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.100061 ms (missed cycles : 5).[0m +222.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.105551 ms (missed cycles : 5).[0m +223.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308795 ms (missed cycles : 2).[0m +224.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864399 ms (missed cycles : 2).[0m +225.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894850 ms (missed cycles : 2).[0m +226.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276218 ms (missed cycles : 2).[0m +227.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899551 ms (missed cycles : 3).[0m +228.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997508 ms (missed cycles : 2).[0m +229.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952303 ms (missed cycles : 2).[0m +230.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145527 ms (missed cycles : 3).[0m +231.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186256 ms (missed cycles : 2).[0m +232.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921081 ms (missed cycles : 2).[0m +233.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378695 ms (missed cycles : 4).[0m +234.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.797745 ms (missed cycles : 6).[0m +235.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855085 ms (missed cycles : 2).[0m +236.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942475 ms (missed cycles : 2).[0m +237.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336200 ms (missed cycles : 2).[0m +238.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086289 ms (missed cycles : 2).[0m +239.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.256491 ms (missed cycles : 7).[0m +240.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038288 ms (missed cycles : 2).[0m +241.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729141 ms (missed cycles : 2).[0m +242.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113756 ms (missed cycles : 2).[0m +243.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910913 ms (missed cycles : 3).[0m +244.02sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. +244.03sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. +244.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784312495.40259337 seconds +244.65sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784312496.02471399 seconds. +244.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807158 ms (missed cycles : 3).[0m +244.99sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 +245.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202541 ms (missed cycles : 4).[0m +246.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418062 ms (missed cycles : 3).[0m +247.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137545 ms (missed cycles : 3).[0m +248.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780377 ms (missed cycles : 3).[0m +249.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.646135 ms (missed cycles : 7).[0m +250.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561673 ms (missed cycles : 3).[0m +252.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.445237 ms (missed cycles : 4).[0m +253.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847825 ms (missed cycles : 3).[0m +254.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040394 ms (missed cycles : 2).[0m +255.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.254361 ms (missed cycles : 6).[0m +256.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374856 ms (missed cycles : 2).[0m +257.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.153294 ms (missed cycles : 5).[0m +258.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704303 ms (missed cycles : 5).[0m +259.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977876 ms (missed cycles : 3).[0m +260.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338990 ms (missed cycles : 3).[0m +261.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235220 ms (missed cycles : 2).[0m +262.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004971 ms (missed cycles : 2).[0m +263.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795755 ms (missed cycles : 3).[0m +264.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959179 ms (missed cycles : 3).[0m +265.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301724 ms (missed cycles : 2).[0m +265.87sINFOros2_control_nodeMuJoCo sim: 0.70% of iterations over time budget. Below 1% expected for non-realtime.[0m +266.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185233 ms (missed cycles : 2).[0m +267.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792237 ms (missed cycles : 3).[0m +268.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952983 ms (missed cycles : 4).[0m +269.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877736 ms (missed cycles : 3).[0m +270.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.392941 ms (missed cycles : 6).[0m +271.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507699 ms (missed cycles : 4).[0m +272.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566304 ms (missed cycles : 3).[0m +273.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190518 ms (missed cycles : 2).[0m +274.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.698801 ms (missed cycles : 6).[0m +275.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892581 ms (missed cycles : 3).[0m +276.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.728226 ms (missed cycles : 6).[0m +277.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286645 ms (missed cycles : 5).[0m +278.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220990 ms (missed cycles : 4).[0m +279.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540918 ms (missed cycles : 2).[0m +280.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.864416 ms (missed cycles : 6).[0m +281.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936518 ms (missed cycles : 2).[0m +282.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764883 ms (missed cycles : 3).[0m +283.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772962 ms (missed cycles : 2).[0m +285.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752209 ms (missed cycles : 2).[0m +286.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003807 ms (missed cycles : 2).[0m +287.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004870 ms (missed cycles : 2).[0m +288.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.790142 ms (missed cycles : 6).[0m +289.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.566941 ms (missed cycles : 6).[0m +290.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454189 ms (missed cycles : 4).[0m +291.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303110 ms (missed cycles : 2).[0m +292.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646711 ms (missed cycles : 2).[0m +293.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039489 ms (missed cycles : 2).[0m +294.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781882 ms (missed cycles : 3).[0m +295.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930523 ms (missed cycles : 3).[0m +296.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090587 ms (missed cycles : 3).[0m +297.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079634 ms (missed cycles : 2).[0m +298.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682353 ms (missed cycles : 2).[0m +299.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784312550.61487055 seconds +299.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.849762 ms (missed cycles : 5).[0m +299.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784312551.18591475 seconds. +300.15sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 +300.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908267 ms (missed cycles : 2).[0m +301.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763826 ms (missed cycles : 3).[0m +302.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572755 ms (missed cycles : 5).[0m +303.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848798 ms (missed cycles : 2).[0m +304.44sINFOobjective_server_nodePath shortcutter: [X__________________X] +304.49sINFOobjective_server_nodePath shortcutter: [X____________________X] +304.52sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). +304.57sINFOobjective_server_nodePath shortcutter: [X_________________________X] +304.61sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). +304.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088351 ms (missed cycles : 2).[0m +304.74sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +304.78sINFOobjective_server_nodeFound path in 0 iterations (8.2e-07 s). +305.01sINFOobjective_server_nodeFound path in 69 iterations (0.0484644 s). +305.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] +305.64sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +305.68sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). +305.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.875621 ms (missed cycles : 6).[0m +306.01sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +306.24sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +306.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.187791 ms (missed cycles : 5).[0m +307.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202966 ms (missed cycles : 2).[0m +308.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704974 ms (missed cycles : 3).[0m +309.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734905 ms (missed cycles : 3).[0m +310.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101934 ms (missed cycles : 2).[0m +311.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414887 ms (missed cycles : 3).[0m +312.25sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784312563.62896419 seconds +312.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784312564.21622944 seconds. +313.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577636 ms (missed cycles : 6).[0m +313.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784312564.84833789 seconds +314.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784312565.40051627 seconds. +314.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581267 ms (missed cycles : 6).[0m +314.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784312566.22070789 seconds +315.08sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +316.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806941 ms (missed cycles : 3).[0m +316.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.448191 ms (missed cycles : 4).[0m +317.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376203 ms (missed cycles : 5).[0m +318.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371752 ms (missed cycles : 3).[0m +319.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438546 ms (missed cycles : 2).[0m +320.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711858 ms (missed cycles : 2).[0m +321.29sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.30sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.30sERRORweb_video_server-33process[web_video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.31sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.31sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.31sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.32sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.32sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.32sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.33sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] +321.34sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.35sERRORweb_video_auth_proxy-35process has died [pid 9464, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. +321.35sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.36sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.36sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.36sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] +321.38sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.38sERRORweb_bridge_auth_proxy-34process has died [pid 9463, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. +321.39sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.39sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.39sERRORfixed_lag_smoother_node-8process[fixed_lag_smoother_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.40sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.40sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.40sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.41sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.41sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.42sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.42sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.43sINFOweb_video_server-33sending signal 'SIGTERM' to process[web_video_server-33] +321.45sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] +321.47sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] +321.50sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] +321.52sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] +321.54sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] +321.56sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] +321.59sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] +321.61sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] +321.64sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] +321.67sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] +321.70sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] +321.71sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system +321.72sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9443] +321.72sINFOweb_video_server-33process has finished cleanly [pid 9446] +321.73sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] +321.77sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] +321.79sINFOfixed_lag_smoother_node-8sending signal 'SIGTERM' to process[fixed_lag_smoother_node-8] +321.82sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +321.82sERRORui_teleop_bridge-30process has died [pid 9437, 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_2msn5q4h']. +321.85sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +321.85sINFOcomponent_container_mt-28process has finished cleanly [pid 9435] +321.87sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +321.87sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9416] +321.89sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] +321.89sINFOexecute_objective_bridge-29process has finished cleanly [pid 9436] +321.91sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] +321.93sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +321.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301342 ms (missed cycles : 3).[0m +321.94sERRORobjective_server_node_main-26process has died [pid 9417, 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_4klo311h --params-file /tmp/launch_params_k7hs9gxu --params-file /tmp/launch_params_wdqcphnq --params-file /tmp/launch_params_aeifjuyz --params-file /tmp/launch_params_fh6n9kuo --params-file /tmp/launch_params_6njxsy66 --params-file /tmp/launch_params_pn9028oi --params-file /tmp/launch_params_qttq1v4r --params-file /tmp/launch_params_p6uz6pn5']. +321.96sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +321.96sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +321.96sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +321.96sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +321.96sERRORui_teleop_bridgeTraceback (most recent call last): +321.96sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +321.96sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +321.96sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +321.96sINFOui_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 +321.96sINFOui_teleop_bridgerclpy.shutdown() +321.96sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +321.96sINFOui_teleop_bridge_shutdown(context=context) +321.96sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +321.96sINFOui_teleop_bridgecontext.shutdown() +321.96sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +321.96sINFOui_teleop_bridgeself.__context.shutdown() +321.96sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +321.96sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +321.96sINFOobjective_server_node[0;m[0m[INFO] [2026-07-17 18:22:52.964] signal_handler(SIGINT/SIGTERM)[0m +321.97sINFOcomponent_container_mtStopping planning scene monitor[0m +321.97sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +321.97sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +321.97sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +321.97sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +321.97sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +321.97sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system +321.97sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +321.97sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +321.97sINFOros2_control_nodeShutdown request received....[0m +321.98sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +321.98sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +321.98sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +321.98sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +321.98sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +321.98sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +321.98sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +321.98sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +321.98sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +321.98sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +321.98sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +321.98sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +321.98sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +321.98sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +321.98sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +321.98sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +321.98sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +321.98sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +321.98sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +321.98sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +321.98sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +321.98sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +321.98sINFOros2_control_nodeShutting down the controller manager.[0m +321.98sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +321.98sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 +321.98sINFOobjective_server_node[2026-07-17 18:22:53.155] [moveit_pro_license] [info] +321.98sINFOobjective_server_node* Application has successfully terminated +321.98sINFOmove_groupDeleting MoveItCpp[0m +321.98sINFOmove_groupStopping world geometry monitor[0m +321.98sINFOmove_groupStopping planning scene monitor[0m +321.98sERRORobjective_server_nodeStack trace (most recent call last): +321.98sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +321.98sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +321.98sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c3142c16a4, in _start +321.98sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febe375428a, in __libc_start_main +321.98sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febe37541d0, in +321.98sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febe3771bbd, in exit +321.98sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febe3771a75, in +321.98sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7febe3c408f5, in spdlog::details::registry::~registry() +321.98sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c3142c1d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +321.99sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c3142c8315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +321.99sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c3142c75a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +321.99sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c3142c3b7b, in spdlog_ros::RosSink::~RosSink() +321.99sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c3142c1d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +321.99sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febe42f6454, in rclcpp::Node::~Node() +321.99sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febe42b1515, in +321.99sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febe42f4d20, in +321.99sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febe42f4c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +321.99sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febe42b15d9, in +321.99sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febe42b6161, in rclcpp::CallbackGroup::~CallbackGroup() +321.99sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7feb8fff0160]) +321.99sERRORodom_qos_relay.pyTraceback (most recent call last): +321.99sINFOodom_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> +321.99sINFOodom_qos_relay.pymain() +321.99sINFOodom_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 +321.99sINFOodom_qos_relay.pyrclpy.spin(node) +321.99sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +321.99sINFOodom_qos_relay.pyexecutor.spin_once() +321.99sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +321.99sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +321.99sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +321.99sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +321.99sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +321.99sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +321.99sINFOodom_qos_relay.pyreturn next(self._cb_iter) +321.99sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +321.99sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +321.99sINFOodom_qos_relay.pyraise ExternalShutdownException() +321.99sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +321.99sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m +321.99sERRORodom_world_drift.pyTraceback (most recent call last): +321.99sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 130, in <module> +321.99sINFOodom_world_drift.pymain() +321.99sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 121, in main +321.99sINFOodom_world_drift.pyrclpy.spin(node) +321.99sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +321.99sINFOodom_world_drift.pyexecutor.spin_once() +321.99sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +321.99sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) +321.99sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +321.99sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( +321.99sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +321.99sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +321.99sINFOodom_world_drift.pyreturn next(self._cb_iter) +321.99sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ +321.99sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +321.99sINFOodom_world_drift.pyraise ExternalShutdownException() +321.99sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException +322.00sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m +322.00sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system +322.00sINFOros2_control_nodeAsync messages lost 0[0m ×2 +322.00sINFOros2_control_nodepublish_async_failures_ 0[0m +322.00sINFOros2_control_nodepublish_async_failures_ 2[0m +322.70sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9414] +322.77sINFOparameter_manager_node-22process has finished cleanly [pid 9387] +322.79sINFOwaypoint_manager_node-23process has finished cleanly [pid 9394] +322.83sINFOcomponent_container_mt-27process has finished cleanly [pid 9418] +322.87sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9302] +322.87sINFOfixed_lag_smoother_node-8process has finished cleanly [pid 9303] +322.89sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9301] +322.90sINFOmove_group-21process has finished cleanly [pid 9386] +322.93sINFOslip_aware_odom-4process has finished cleanly [pid 9299] +322.97sERRORodom_qos_relay.py-5process has died [pid 9300, 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']. +322.97sINFOstatic_transform_publisher-2process has finished cleanly [pid 9297] +323.10sERRORodom_world_drift.py-3process has died [pid 9298, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py --ros-args -r __node:=odom_world_drift']. +323.60sINFOros2_control_node-9process has finished cleanly [pid 9304] +324.21sINFOweb_bridge-31process has finished cleanly [pid 9438] +324.21sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system +326.29sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +326.31sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] +326.32sERRORcomponent_container_isolated-1process has died [pid 9296, 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__mo3m3wh --params-file /tmp/launch_params_mjxie0x3 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +334.22sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-17-18-23-02-413576-e6ab105aeed0-13375 ×2 +346.92sINFOstatic_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' +346.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +346.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +346.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +346.95sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +346.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +347.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +347.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +347.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +347.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +347.02sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +347.02sINFOmap_serverCreating +347.04sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +347.04sINFOstate_estimatorReceived a set_pose request (stamp: 1784312598419196937, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +347.06sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +347.07sINFOcontroller_managerupdate rate is 600 Hz +347.07sINFOcontroller_managerOverruns handling is : enabled +347.07sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +347.08sWARNcontroller_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. +347.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +347.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +347.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +347.14sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. +347.15sINFOcontroller_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. +347.20sINFOros2_control_node-9process started with pid [13433] ×2 +347.22sINFOmove_group-21process started with pid [13528] ×2 +347.22sINFOparameter_manager_node-22process started with pid [13529] ×2 +347.22sINFOwaypoint_manager_node-23process started with pid [13530] ×2 +347.22sINFOmove_joint_resampler_node-24process started with pid [13566] ×2 +347.22sINFOmove_end_effector_resampler_node-25process started with pid [13567] ×2 +347.22sINFOobjective_server_node_main-26process started with pid [13568] ×2 +347.22sINFOcomponent_container_mt-27process started with pid [13569] ×2 +347.22sINFOcomponent_container_mt-28process started with pid [13586] ×2 +347.22sINFOexecute_objective_bridge-29process started with pid [13589] ×2 +347.22sINFOui_teleop_bridge-30process started with pid [13590] ×2 +347.22sINFOweb_bridge-31process started with pid [13591] ×2 +347.22sINFOtf2_web_republisher_node-32process started with pid [13596] ×2 +347.22sINFOweb_video_server-33process started with pid [13597] ×2 +347.22sINFOweb_bridge_auth_proxy-34process started with pid [13598] ×2 +347.22sINFOweb_video_auth_proxy-35process started with pid [13599] ×2 +347.23sINFOcomponent_container_isolated-1process started with pid [13425] ×2 +347.24sINFOstatic_transform_publisher-2process started with pid [13426] ×2 +347.24sINFOodom_world_drift.py-3process started with pid [13427] ×2 +347.24sINFOslip_aware_odom-4process started with pid [13428] ×2 +347.24sINFOodom_qos_relay.py-5process started with pid [13429] ×2 +347.24sINFOscan_to_scan_filter_chain-6process started with pid [13430] ×2 +347.24sINFOscan_to_scan_filter_chain-7process started with pid [13431] ×2 +347.24sINFOfixed_lag_smoother_node-8process started with pid [13432] ×2 +347.24sINFOros2-10process started with pid [13514] ×2 +347.24sINFOros2-11process started with pid [13515] ×2 +347.24sINFOros2-12process started with pid [13516] ×2 +347.24sINFOros2-13process started with pid [13517] ×2 +347.24sINFOros2-14process started with pid [13518] ×2 +347.24sINFOros2-15process started with pid [13519] ×2 +347.24sINFOros2-16process started with pid [13520] ×2 +347.24sINFOros2-17process started with pid [13521] ×2 +347.24sINFOros2-18process started with pid [13522] ×2 +347.24sINFOros2-19process started with pid [13524] ×2 +347.24sINFOros2-20process started with pid [13525] ×2 +347.31sINFOcontroller_serverCreating controller server +347.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258177 ms (missed cycles : 5). +347.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258177 ms (missed cycles : 5).[0m ×2 +347.36sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +347.37sINFOlocal_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. +347.37sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +347.41sINFOlocal_costmap.local_costmapCreating Costmap +347.41sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +347.41sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +347.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +347.42sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +347.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +347.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +347.48sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +347.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +347.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +347.53sINFOcontroller_managerReceived robot description from topic. +347.53sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +347.54sINFOrobot_state_publisherRobot initialized +347.55sINFOsmoother_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. +347.58sINFOsmoother_serverCreating smoother server +347.58sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +347.58sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +347.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +347.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +347.60sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +347.61sINFOlifecycle_manager_localizationCreating +347.63sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +347.63sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +347.63sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +347.63sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +347.64sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +347.64sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +347.64sINFOmap_serverConfiguring +347.66sINFOplanner_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. +347.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +347.68sINFOplanner_serverCreating +347.69sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +347.73sINFOglobal_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. +347.73sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +347.73sINFOglobal_costmap.global_costmapCreating Costmap +347.73sINFOamclConfiguring +347.74sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +347.74sINFOmap_serverActivating +347.74sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +347.74sINFOmap_serverCreating bond (map_server) to lifecycle manager. +347.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +347.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +347.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +347.81sINFObehavior_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. +347.85sINFOlifecycle_manager_localizationServer map_server connected with bond. +347.85sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +347.85sINFOamclActivating +347.85sINFOamclSubscribed to initial_pose_topic: /initialpose +347.85sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +347.87sINFOamclSubscribed to map_topic: /map +347.87sINFOamclSubscribed to scan_topic: /scan_merged +347.87sINFOamclCreated reinitialize_global_localization service +347.87sINFOamclCreated request_nomotion_update service +347.87sINFOamclA new map was received +347.88sINFOamclInitializing particle filter instance +347.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +347.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +347.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +347.93sWARNlaser_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. +347.93sWARNlaser_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. +347.96sINFObt_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. +348.01sINFObt_navigatorCreating +348.01sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.397476 seconds +348.02sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +348.02sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +348.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +348.02sINFOmove_groupLoaded robot model in 0.397476 seconds[0m ×2 +348.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +348.02sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +348.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +348.04sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +348.04sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +348.04sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +348.04sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +348.04sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +348.04sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +348.04sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +348.04sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 +348.08sINFOwaypoint_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. +348.09sINFOwaypoint_followerCreating +348.10sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +348.10sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +348.10sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +348.13sINFOvelocity_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. +348.18sINFOlifecycle_manager_navigationCreating +348.19sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +348.22sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +348.22sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +348.22sINFOcontroller_serverConfiguring controller interface +348.22sINFOcontroller_servergetting progress checker plugins.. +348.22sINFOcontroller_servergetting goal checker plugins.. +348.23sINFOcontroller_serverController frequency set to 20.0000Hz +348.23sINFOlocal_costmap.local_costmapConfiguring +348.25sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +348.27sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +348.33sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +348.33sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +348.33sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +348.37sINFOwaypoint_manager_nodeLoaded robot model in 0.312066 seconds[0m ×2 +348.38sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +348.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216395 ms (missed cycles : 5). +348.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216395 ms (missed cycles : 5).[0m ×2 +348.39sINFOcontroller_serverController Server has progress_checker progress checkers available. +348.40sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +348.40sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +348.40sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +348.44sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +348.46sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +348.46sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +348.47sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +348.47sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +348.47sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +348.47sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +348.47sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +348.47sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +348.48sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +348.48sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +348.48sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +348.48sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +348.48sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +348.49sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +348.49sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +348.49sINFOcontroller_serverOptimizer reset +348.50sINFOcontroller_serverController Server has FollowPath controllers available. +348.52sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +348.52sINFOsmoother_serverConfiguring smoother server +348.52sINFOamclParticle filter initialization completed +348.53sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +348.54sINFOamclInitializing particles from estimated pose and covariance +348.54sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 +348.55sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +348.56sINFOlifecycle_manager_localizationServer amcl connected with bond. +348.56sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +348.56sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +348.57sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +348.57sINFOplanner_serverConfiguring +348.57sINFOglobal_costmap.global_costmapConfiguring +348.61sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +348.61sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +348.61sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +348.61sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +348.62sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +348.64sINFOamclThe bond connection to the lifecycle manager is now fully formed +348.65sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +348.65sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +348.65sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +348.67sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +348.67sWARNmove_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. +348.67sWARNmove_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. +348.69sWARNmove_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. +348.69sWARNmove_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. +348.69sFATALplanner_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 +348.69sINFOplanner_serverCleaning up +348.69sINFOglobal_costmap.global_costmapCleaning up +348.70sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +348.70sWARNmove_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. +348.70sWARNmove_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. +348.71sWARNmove_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. +348.71sWARNmove_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. +348.72sWARNmove_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. +348.72sWARNmove_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. +348.78sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +348.78sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +349.15sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +349.16sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.17sWARNwaypoint_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. +349.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.17sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.18sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.19sWARNwaypoint_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. +349.19sWARNwaypoint_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. +349.19sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.19sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.19sWARNwaypoint_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. +349.20sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.20sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.20sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.20sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.20sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.21sWARNwaypoint_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. +349.21sWARNwaypoint_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. +349.21sWARNwaypoint_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. +349.21sWARNwaypoint_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. +349.30sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +349.30sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +349.44sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +349.44sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +349.44sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +349.44sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +349.44sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +349.44sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +349.45sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +349.45sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +349.45sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +349.45sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +349.45sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +349.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662485 ms (missed cycles : 4). +349.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662485 ms (missed cycles : 4).[0m ×2 +350.13sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +350.13sINFOcontroller_managerActivating component 'ur_mujoco_control'. +350.14sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +350.14sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +350.16sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +350.16sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +350.29sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli +350.29sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli [0m ×2 +350.30sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +350.30sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +350.36sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +350.36sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +350.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +350.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +350.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +350.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +350.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +350.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +350.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +350.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +350.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +350.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +350.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +350.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +350.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +350.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +350.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +350.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +350.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +350.45sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +350.48sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +350.62sINFOobjective_server_node[2026-07-17 18:23:21.998] [moveit_pro_license] [info] ×2 +350.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746834 ms (missed cycles : 2). +350.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746834 ms (missed cycles : 2).[0m ×2 +350.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +350.67sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +350.69sINFOobjective_server_nodeLoaded robot model in 0.0288731 seconds[0m ×2 +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +350.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +350.74sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +350.77sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +350.77sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +350.78sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +350.78sINFOstreaming_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) +350.78sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +351.00sINFOmove_groupMoveGroup debug mode is ON +351.04sINFOros2_control_node[2026-07-17 18:23:22.411] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +351.04sINFOros2_control_node[2026-07-17 18:23:22.415] [info] Controller state will be published at 10 Hz. ×2 +351.04sINFOros2_control_node[2026-07-17 18:23:22.417] [info] VelocityForceController 'on_configure' succeeded. ×2 +351.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +351.06sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +351.09sINFOstreaming_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) +351.11sINFOcomponent_container_mtLoaded robot model in 0.430475 seconds[0m ×2 +351.13sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +351.13sWARNobjective_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. +351.13sWARNobjective_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. +351.13sWARNobjective_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. +351.13sWARNobjective_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. +351.13sWARNobjective_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. +351.13sWARNobjective_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. +351.13sWARNobjective_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. +351.14sWARNobjective_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. +351.14sWARNobjective_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. +351.14sWARNobjective_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. +351.19sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ******************************************************** +351.40sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +351.40sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +351.41sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli +351.41sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli [0m ×2 +351.49sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784312601.740 for reason 'discarding message because the queue is full' +351.49sINFOros2-18process has finished cleanly [pid 13522] ×2 +351.53sWARNplanning_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. +351.53sWARNplanning_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. +351.53sWARNplanning_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. +351.53sWARNplanning_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. +351.53sWARNplanning_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. +351.53sWARNplanning_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. +351.53sWARNplanning_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. +351.53sWARNplanning_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. +351.53sWARNplanning_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. +351.53sWARNplanning_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. +351.53sWARNplanning_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. +351.53sWARNplanning_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. +351.54sWARNplanning_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. +351.54sWARNplanning_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. +351.54sWARNplanning_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. +351.54sWARNplanning_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. +351.54sWARNplanning_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. +351.54sWARNplanning_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. +351.55sWARNplanning_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. +351.55sWARNplanning_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. +351.55sWARNplanning_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. +351.55sWARNplanning_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. +351.55sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +351.55sWARNplanning_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. +351.55sWARNplanning_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. +351.55sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +351.55sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +351.55sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +351.56sWARNplanning_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. +351.56sWARNplanning_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. +351.56sWARNplanning_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. +351.56sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +351.56sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +351.56sWARNplanning_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. +351.57sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +351.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716024 ms (missed cycles : 2). +351.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716024 ms (missed cycles : 2).[0m ×2 +351.72sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +351.89sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +351.89sINFOros2-16process has finished cleanly [pid 13520] ×2 +351.90sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +351.90sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +351.90sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli +351.90sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli [0m ×2 +351.94sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +351.95sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +351.95sINFOplatform_velocity_controller_nav2configure successful +352.39sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +352.39sINFOcontroller_managerLoading controller 'platform_velocity_controller' +352.39sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli +352.39sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli [0m ×2 +352.45sINFOros2-15process has finished cleanly [pid 13519] ×2 +352.47sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +352.47sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +352.48sINFOplatform_velocity_controllerconfigure successful +352.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +352.48sINFOcontroller_managerSuccessfully switched controllers! ×8 +352.49sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +352.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510976 ms (missed cycles : 4). +352.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510976 ms (missed cycles : 4).[0m ×2 +352.80sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +352.80sINFOcontroller_managerLoading controller 'velocity_force_controller' +352.80sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli +352.80sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli [0m ×2 +352.84sINFOros2-13process has finished cleanly [pid 13517] ×2 +352.87sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +352.88sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +353.22sINFOros2_control_node[2026-07-17 18:23:24.594] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +353.22sINFOros2_control_node[2026-07-17 18:23:24.596] [info] Controller state will be published at 10 Hz. ×2 +353.22sINFOros2_control_node[2026-07-17 18:23:24.598] [info] VelocityForceController 'on_configure' succeeded. ×2 +353.59sINFOros2-17process has finished cleanly [pid 13521] ×2 +353.60sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +353.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164262 ms (missed cycles : 2). +353.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164262 ms (missed cycles : 2).[0m ×2 +353.86sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +353.86sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +353.86sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli +353.86sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli [0m ×2 +353.89sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +353.89sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +353.90sINFOforce_torque_sensor_broadcasterconfigure successful +353.91sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +353.92sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +354.09sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784312604.340 for reason 'discarding message because the queue is full' +354.23sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +354.23sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +354.23sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli +354.24sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli [0m ×2 +354.26sINFOros2-10process has finished cleanly [pid 13514] ×2 +354.31sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +354.32sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +354.32sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +354.33sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +354.69sINFOros2-11process has finished cleanly [pid 13515] ×2 +354.70sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +354.71sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +354.71sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +354.71sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli +354.72sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli [0m ×2 +354.75sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +354.75sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +354.75sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +354.75sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +354.75sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +354.76sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +354.76sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +354.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233448 ms (missed cycles : 5). +354.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233448 ms (missed cycles : 5).[0m ×2 +354.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.167ms +355.27sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +355.27sINFOcontroller_managerLoading controller 'vacuum_gripper' +355.27sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli +355.27sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli [0m ×2 +355.28sINFOros2-12process has finished cleanly [pid 13516] ×2 +355.30sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +355.34sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +355.34sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +355.34sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +355.34sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +355.35sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +355.70sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +355.70sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +355.72sINFOros2-14process has finished cleanly [pid 13518] ×2 +355.80sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli +355.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli [0m ×2 +355.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847235 ms (missed cycles : 3). +355.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847235 ms (missed cycles : 3).[0m ×2 +355.86sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +355.86sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +356.22sINFOros2_control_node[2026-07-17 18:23:27.599] [info] Controller state will be published at 20 Hz. ×2 +356.23sINFOros2_control_node[2026-07-17 18:23:27.601] [info] JointVelocityController 'on_configure' succeeded. ×2 +356.60sINFOros2-20process has finished cleanly [pid 13525] ×2 +356.61sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +356.61sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +356.61sINFOcontroller_managerLoading controller 'joint_velocity_controller' +356.61sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli +356.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x3e4jrx5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ogx_zw0g --params-file /tmp/launch_params_ptmj0uli [0m ×2 +356.64sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +356.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +356.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721552 ms (missed cycles : 2). +356.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721552 ms (missed cycles : 2).[0m ×2 +357.01sINFOros2_control_node[2026-07-17 18:23:28.380] [info] Controller state will be published at 20 Hz. ×2 +357.01sINFOros2_control_node[2026-07-17 18:23:28.381] [info] JointVelocityController 'on_configure' succeeded. ×2 +357.34sINFOros2-19process has finished cleanly [pid 13524] ×2 +357.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217769 ms (missed cycles : 2). +357.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217769 ms (missed cycles : 2).[0m ×2 +358.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3). +358.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3).[0m ×2 +359.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4). +359.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 +360.32sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +360.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). +360.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 +362.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). +362.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 +362.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 +362.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +362.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +362.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 +362.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 +362.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 +363.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). +363.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 +363.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 +363.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 +364.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 +364.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +364.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +364.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +364.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +364.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +364.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. +364.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +364.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +364.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +364.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). +364.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +364.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 +364.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 +364.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 +364.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +364.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +364.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ]

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 5.19sINFOobjective_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 + 5.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 5.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 110 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 5.19sINFOobjective_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 + 5.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 5.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 6.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.11sINFOjoint_trajectory_controllerReceived new action goal + 7.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.11sINFOjoint_trajectory_controllerAccepted new action goal
− skipped	—	addtovector.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 5.19sINFOobjective_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 + 5.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 5.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 5.19sINFOobjective_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 + 5.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 5.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 5.19sINFOobjective_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 + 5.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 5.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735300 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 5.19sINFOobjective_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 + 5.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 5.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2
− skipped	—	teleoperate.xml	0.0s	18 warnings · 110 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal
− 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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[0m ×2

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

10 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566293 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566293 ms (missed cycles : 2).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[0m ×2

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

3 skip

− 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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[0m ×2
− 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 6.175911 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175911 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226053 ms (missed cycles : 4).[0m ×2 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882432 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312613.57826638 seconds. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312613.58847427 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312614.15130663 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312614.16156125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710986 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312614.71081471 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312614.86138558 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312615.44000411 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3). + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590529 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312615.49458981 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312616.04943228 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497554 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412835 ms (missed cycles : 5).[0m ×2