69
Total objective tests
15
Objectives passed
2
Objectives failed
52
Objectives skipped
19.3s
Avg test time
88%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives2 fail10 pass25 skip
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 32.6s | 6 errors · 117 warnings · 66 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680537 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680537 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095984 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095984 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332982 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332982 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221644 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221644 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.79sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784313271.65272403 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 4.07sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 1.520ms + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.365878 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.365878 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784313272.22440410 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 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085400 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085400 ms (missed cycles : 2).[0m ×2 + 5.77sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 2.290ms + 5.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.96sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.96sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712454 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712454 ms (missed cycles : 2).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269484 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269484 ms (missed cycles : 3).[0m ×2 + 7.46sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 2.603ms + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543543 ms (missed cycles : 3). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543543 ms (missed cycles : 3).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147236 ms (missed cycles : 3). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147236 ms (missed cycles : 3).[0m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897754 ms (missed cycles : 3). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897754 ms (missed cycles : 3).[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641793 ms (missed cycles : 3). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641793 ms (missed cycles : 3).[0m ×2 + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693809 ms (missed cycles : 3). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693809 ms (missed cycles : 3).[0m ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932452 ms (missed cycles : 3). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932452 ms (missed cycles : 3).[0m ×2 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.669141 ms (missed cycles : 6). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.669141 ms (missed cycles : 6).[0m ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601893 ms (missed cycles : 3). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601893 ms (missed cycles : 3).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800878 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800878 ms (missed cycles : 2).[0m ×2 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574050 ms (missed cycles : 2). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574050 ms (missed cycles : 2).[0m ×2 + 18.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446550 ms (missed cycles : 4). + 18.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446550 ms (missed cycles : 4).[0m ×2 + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243719 ms (missed cycles : 2). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243719 ms (missed cycles : 2).[0m ×2 + 20.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125071 ms (missed cycles : 4). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125071 ms (missed cycles : 4).[0m ×2 + 21.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195324 ms (missed cycles : 2). + 21.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195324 ms (missed cycles : 2).[0m ×2 + 22.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200644 ms (missed cycles : 2). + 22.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200644 ms (missed cycles : 2).[0m ×2 + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861296 ms (missed cycles : 2). + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861296 ms (missed cycles : 2).[0m ×2 + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789280 ms (missed cycles : 6). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789280 ms (missed cycles : 6).[0m ×2 + 25.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466020 ms (missed cycles : 3). + 25.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466020 ms (missed cycles : 3).[0m ×2 + 26.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033406 ms (missed cycles : 3). + 26.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033406 ms (missed cycles : 3).[0m ×2 + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481619 ms (missed cycles : 2). + 27.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481619 ms (missed cycles : 2).[0m ×2 + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173625 ms (missed cycles : 3). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173625 ms (missed cycles : 3).[0m ×2 + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001977 ms (missed cycles : 5). + 30.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001977 ms (missed cycles : 5).[0m ×2 + 31.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632515 ms (missed cycles : 2). + 31.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632515 ms (missed cycles : 2).[0m ×2 + 32.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851002 ms (missed cycles : 3). + 32.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851002 ms (missed cycles : 3).[0m ×2 + 33.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946160 ms (missed cycles : 2). + 33.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946160 ms (missed cycles : 2).[0m ×2 + 34.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950344 ms (missed cycles : 3). + 34.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950344 ms (missed cycles : 3).[0m ×2 + 35.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814448 ms (missed cycles : 6). + 35.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814448 ms (missed cycles : 6).[0m ×2 + 36.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.041668 ms (missed cycles : 5). + 36.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.041668 ms (missed cycles : 5).[0m ×2 + 36.42sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 36.43sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 36.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784313304.25464106 seconds ×3 + 36.66sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.008ms + 36.77sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.281ms + 37.10sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784313304.91978884 seconds. ×3 + 37.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464179 ms (missed cycles : 2). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464179 ms (missed cycles : 2).[0m ×2 + 37.43sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733761 ms (missed cycles : 3). + 38.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733761 ms (missed cycles : 3).[0m ×2 + 38.45sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.888ms + 38.67sINFOros2_control_nodeMuJoCo sim: 0.69% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360586 ms (missed cycles : 3). + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360586 ms (missed cycles : 3).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 29.6s | 9 errors · 108 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430957 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430957 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804776 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804776 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955725 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955725 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693112 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693112 ms (missed cycles : 3).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGot request to cancel goal + 3.78sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.78sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.78sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784313315.10772943 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.98sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.682ms + 4.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.168ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968693 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968693 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784313315.65528870 seconds. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283495 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283495 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.91sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.91sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.91sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.91sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.09sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.676ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814841 ms (missed cycles : 6). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814841 ms (missed cycles : 6).[0m ×2 + 7.08sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 1.852ms + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060243 ms (missed cycles : 5). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060243 ms (missed cycles : 5).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.042483 ms (missed cycles : 5). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.042483 ms (missed cycles : 5).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520804 ms (missed cycles : 4). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520804 ms (missed cycles : 4).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288123 ms (missed cycles : 2). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288123 ms (missed cycles : 2).[0m ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.109351 ms (missed cycles : 5). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.109351 ms (missed cycles : 5).[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.749799 ms (missed cycles : 6). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.749799 ms (missed cycles : 6).[0m ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415960 ms (missed cycles : 4). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415960 ms (missed cycles : 4).[0m ×2 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944711 ms (missed cycles : 2). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944711 ms (missed cycles : 2).[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.667488 ms (missed cycles : 5). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.667488 ms (missed cycles : 5).[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837310 ms (missed cycles : 3). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837310 ms (missed cycles : 3).[0m ×2 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202322 ms (missed cycles : 3). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202322 ms (missed cycles : 3).[0m ×2 + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.995052 ms (missed cycles : 5). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.995052 ms (missed cycles : 5).[0m ×2 + 19.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584233 ms (missed cycles : 3). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584233 ms (missed cycles : 3).[0m ×2 + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479788 ms (missed cycles : 3). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479788 ms (missed cycles : 3).[0m ×2 + 21.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696900 ms (missed cycles : 3). + 21.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696900 ms (missed cycles : 3).[0m ×2 + 22.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595901 ms (missed cycles : 3). + 22.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595901 ms (missed cycles : 3).[0m ×2 + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717052 ms (missed cycles : 3). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717052 ms (missed cycles : 3).[0m ×2 + 24.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854548 ms (missed cycles : 2). + 24.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854548 ms (missed cycles : 2).[0m ×2 + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171948 ms (missed cycles : 4). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171948 ms (missed cycles : 4).[0m ×2 + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023028 ms (missed cycles : 2). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023028 ms (missed cycles : 2).[0m ×2 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863861 ms (missed cycles : 2). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863861 ms (missed cycles : 2).[0m ×2 + 28.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405033 ms (missed cycles : 4). + 28.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405033 ms (missed cycles : 4).[0m ×2 + 30.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103787 ms (missed cycles : 5). + 30.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103787 ms (missed cycles : 5).[0m ×2 + 31.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3). + 31.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3).[0m ×2 + 32.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3).[0m ×2 + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4).[0m ×2 + 33.18sINFOjoint_trajectory_controllerGoal reached, success! + 33.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 33.37sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 33.38sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 33.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313344.68547416 seconds ×3 + 33.56sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.536ms + 33.67sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.462ms + 33.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313345.30298567 seconds. ×3 + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4).[0m ×2 + 34.34sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 34.96sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.293ms + 35.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6). + 35.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6).[0m ×2 + 36.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 ms (missed cycles : 2). + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.2s | 186 warnings · 123 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912744 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912744 ms (missed cycles : 2).[0m ×2 + 0.17sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.17sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784313174.46327567 seconds ×3 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.290ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 0.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784313175.01319885 seconds. ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749719 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749719 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.263ms + 1.65sINFOobjective_server_nodeFound path in 0 iterations (2.3581e-05 s). ×2 + 1.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.67sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.67sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.67sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.67sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212070 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212070 ms (missed cycles : 5).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327777 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327777 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784313178.05337191 seconds ×3 + 3.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.164ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112372 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112372 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784313178.60650730 seconds. ×3 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (8.1e-07 s). ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684402 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684402 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289747 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289747 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764036 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764036 ms (missed cycles : 2).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062109 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062109 ms (missed cycles : 2).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999531 ms (missed cycles : 2). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999531 ms (missed cycles : 2).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494306 ms (missed cycles : 3). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494306 ms (missed cycles : 3).[0m ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713835 ms (missed cycles : 3). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713835 ms (missed cycles : 3).[0m ×2 + 12.21sINFOros2_control_nodeMuJoCo sim: 0.43% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.306088 ms (missed cycles : 7). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.306088 ms (missed cycles : 7).[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563847 ms (missed cycles : 3). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563847 ms (missed cycles : 3).[0m ×2 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 42.479716 ms (missed cycles : 26). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 42.479716 ms (missed cycles : 26).[0m ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895016 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895016 ms (missed cycles : 2).[0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494766 ms (missed cycles : 3). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494766 ms (missed cycles : 3).[0m ×2 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982635 ms (missed cycles : 2). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982635 ms (missed cycles : 2).[0m ×2 + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.033713 ms (missed cycles : 8). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.033713 ms (missed cycles : 8).[0m ×2 + 19.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.076ms + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268607 ms (missed cycles : 5). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268607 ms (missed cycles : 5).[0m ×2 + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255605 ms (missed cycles : 4). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255605 ms (missed cycles : 4).[0m ×2 + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327178 ms (missed cycles : 3). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327178 ms (missed cycles : 3).[0m ×2 + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136044 ms (missed cycles : 2). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136044 ms (missed cycles : 2).[0m ×2 + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517283 ms (missed cycles : 2). + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517283 ms (missed cycles : 2).[0m ×2 + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359871 ms (missed cycles : 4). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359871 ms (missed cycles : 4).[0m ×2 + 26.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978751 ms (missed cycles : 5). + 26.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978751 ms (missed cycles : 5).[0m ×2 + 27.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577415 ms (missed cycles : 6). + 27.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577415 ms (missed cycles : 6).[0m ×2 + 28.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339634 ms (missed cycles : 3). + 28.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339634 ms (missed cycles : 3).[0m ×2 + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208946 ms (missed cycles : 2). + 29.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208946 ms (missed cycles : 2).[0m ×2 + 30.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093606 ms (missed cycles : 3). + 30.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093606 ms (missed cycles : 3).[0m ×2 + 31.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013735 ms (missed cycles : 2). + 31.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013735 ms (missed cycles : 2).[0m ×2 + 32.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398921 ms (missed cycles : 5). + 32.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398921 ms (missed cycles : 5).[0m ×2 + 33.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700839 ms (missed cycles : 4). + 33.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700839 ms (missed cycles : 4).[0m ×2 + 34.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790515 ms (missed cycles : 4). + 34.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790515 ms (missed cycles : 4).[0m ×2 + 35.14sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468893 ms (missed cycles : 4). + 35.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468893 ms (missed cycles : 4).[0m ×2 + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891072 ms (missed cycles : 3). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891072 ms (missed cycles : 3).[0m ×2 + 37.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298127 ms (missed cycles : 2). + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298127 ms (missed cycles : 2).[0m ×2 + 38.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375953 ms (missed cycles : 3). + 38.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375953 ms (missed cycles : 3).[0m ×2 + 39.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832771 ms (missed cycles : 2). + 39.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832771 ms (missed cycles : 2).[0m ×2 + 40.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867914 ms (missed cycles : 2). + 40.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867914 ms (missed cycles : 2).[0m ×2 + 41.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 41.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516038 ms (missed cycles : 3). + 41.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516038 ms (missed cycles : 3).[0m ×2 + 42.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322473 ms (missed cycles : 4). + 42.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322473 ms (missed cycles : 4).[0m ×2 + 43.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.806072 ms (missed cycles : 5). + 43.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.806072 ms (missed cycles : 5).[0m ×2 + 44.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105653 ms (missed cycles : 5). + 44.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105653 ms (missed cycles : 5).[0m ×2 + 45.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 45.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226407 ms (missed cycles : 2). + 45.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226407 ms (missed cycles : 2).[0m ×2 + 46.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 47.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131752 ms (missed cycles : 2). + 47.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131752 ms (missed cycles : 2).[0m ×2 + 48.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255525 ms (missed cycles : 5). + 48.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255525 ms (missed cycles : 5).[0m ×2 + 48.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.398ms + 48.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.129ms + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003610 ms (missed cycles : 3). + 49.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003610 ms (missed cycles : 3).[0m ×2 + 50.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062303 ms (missed cycles : 2). + 50.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062303 ms (missed cycles : 2).[0m ×2 + 51.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707006 ms (missed cycles : 2). + 51.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707006 ms (missed cycles : 2).[0m ×2 + 51.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 52.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834818 ms (missed cycles : 4). + 52.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834818 ms (missed cycles : 4).[0m ×2 + 52.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 53.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255554 ms (missed cycles : 2). + 53.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255554 ms (missed cycles : 2).[0m ×2 + 54.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790526 ms (missed cycles : 5). + 54.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790526 ms (missed cycles : 5).[0m ×2 + 55.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 55.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681142 ms (missed cycles : 3). + 55.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681142 ms (missed cycles : 3).[0m ×2 + 56.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 56.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934048 ms (missed cycles : 3). + 56.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934048 ms (missed cycles : 3).[0m ×2 + 57.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034911 ms (missed cycles : 2). + 57.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034911 ms (missed cycles : 2).[0m ×2 + 58.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445763 ms (missed cycles : 4). + 58.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445763 ms (missed cycles : 4).[0m ×2 + 59.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 59.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925140 ms (missed cycles : 2). + 59.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925140 ms (missed cycles : 2).[0m ×2 + 60.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 60.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516733 ms (missed cycles : 5). + 60.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516733 ms (missed cycles : 5).[0m ×2 + 60.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784313235.22661996 seconds ×3 + 61.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 61.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 61.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784313235.78920770 seconds. ×3 + 61.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990616 ms (missed cycles : 2). + 61.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990616 ms (missed cycles : 2).[0m ×2 + 61.85sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 61.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 62.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.815820 ms (missed cycles : 5). + 62.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.815820 ms (missed cycles : 5).[0m ×2 + 63.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955067 ms (missed cycles : 5). + 63.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955067 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.2s | 6 errors · 180 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103787 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103787 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.17sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.36sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.37sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313344.68547416 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.55sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.536ms + 3.66sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.462ms + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313345.30298567 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.95sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.293ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.67sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778236 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778236 ms (missed cycles : 3).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843369 ms (missed cycles : 2). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843369 ms (missed cycles : 2).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338582 ms (missed cycles : 4). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338582 ms (missed cycles : 4).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826487 ms (missed cycles : 2). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826487 ms (missed cycles : 2).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876424 ms (missed cycles : 2). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876424 ms (missed cycles : 2).[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996854 ms (missed cycles : 2). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996854 ms (missed cycles : 2).[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246890 ms (missed cycles : 4). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246890 ms (missed cycles : 4).[0m ×2 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.809188 ms (missed cycles : 6). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.809188 ms (missed cycles : 6).[0m ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704444 ms (missed cycles : 3). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704444 ms (missed cycles : 3).[0m ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873069 ms (missed cycles : 2). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873069 ms (missed cycles : 2).[0m ×2 + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493129 ms (missed cycles : 4). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493129 ms (missed cycles : 4).[0m ×2 + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446873 ms (missed cycles : 3). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446873 ms (missed cycles : 3).[0m ×2 + 19.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821118 ms (missed cycles : 3). + 19.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821118 ms (missed cycles : 3).[0m ×2 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159428 ms (missed cycles : 5). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159428 ms (missed cycles : 5).[0m ×2 + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779244 ms (missed cycles : 5). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779244 ms (missed cycles : 5).[0m ×2 + 22.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371527 ms (missed cycles : 3). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371527 ms (missed cycles : 3).[0m ×2 + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683944 ms (missed cycles : 3). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683944 ms (missed cycles : 3).[0m ×2 + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798320 ms (missed cycles : 3). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798320 ms (missed cycles : 3).[0m ×2 + 25.18sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295596 ms (missed cycles : 2). + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295596 ms (missed cycles : 2).[0m ×2 + 27.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176231 ms (missed cycles : 5). + 27.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176231 ms (missed cycles : 5).[0m ×2 + 27.46sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.364ms + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239455 ms (missed cycles : 2). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239455 ms (missed cycles : 2).[0m ×2 + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414034 ms (missed cycles : 3). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414034 ms (missed cycles : 3).[0m ×2 + 30.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757449 ms (missed cycles : 6). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757449 ms (missed cycles : 6).[0m ×2 + 31.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.668038 ms (missed cycles : 6). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.668038 ms (missed cycles : 6).[0m ×2 + 32.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305332 ms (missed cycles : 2). + 32.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305332 ms (missed cycles : 2).[0m ×2 + 33.04sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118028 ms (missed cycles : 2). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118028 ms (missed cycles : 2).[0m ×2 + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067594 ms (missed cycles : 2). + 34.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067594 ms (missed cycles : 2).[0m ×2 + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394334 ms (missed cycles : 3). + 35.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394334 ms (missed cycles : 3).[0m ×2 + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299662 ms (missed cycles : 3). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299662 ms (missed cycles : 3).[0m ×2 + 37.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567076 ms (missed cycles : 3). + 37.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567076 ms (missed cycles : 3).[0m ×2 + 38.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766837 ms (missed cycles : 2). + 38.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766837 ms (missed cycles : 2).[0m ×2 + 39.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509153 ms (missed cycles : 4). + 39.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509153 ms (missed cycles : 4).[0m ×2 + 39.57sINFOamclParticle filter update iteration stats: 1682 particles 723 points - 2.340ms + 40.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689245 ms (missed cycles : 4). + 40.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689245 ms (missed cycles : 4).[0m ×2 + 41.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303026 ms (missed cycles : 2). + 41.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303026 ms (missed cycles : 2).[0m ×2 + 42.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784452 ms (missed cycles : 2). + 42.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784452 ms (missed cycles : 2).[0m ×2 + 42.77sINFOamclParticle filter update iteration stats: 1682 particles 723 points - 1.876ms + 43.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.884779 ms (missed cycles : 6). + 43.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.884779 ms (missed cycles : 6).[0m ×2 + 44.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055704 ms (missed cycles : 5). + 44.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055704 ms (missed cycles : 5).[0m ×2 + 45.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705261 ms (missed cycles : 3). + 45.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705261 ms (missed cycles : 3).[0m ×2 + 46.15sINFOamclParticle filter update iteration stats: 1682 particles 723 points - 2.332ms + 46.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.807001 ms (missed cycles : 6). + 46.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.807001 ms (missed cycles : 6).[0m ×2 + 47.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805275 ms (missed cycles : 3). + 47.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805275 ms (missed cycles : 3).[0m ×2 + 48.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.177520 ms (missed cycles : 6). + 48.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.177520 ms (missed cycles : 6).[0m ×2 + 49.47sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 1.796ms + 50.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336952 ms (missed cycles : 3). + 50.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336952 ms (missed cycles : 3).[0m ×2 + 51.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051597 ms (missed cycles : 3). + 51.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051597 ms (missed cycles : 3).[0m ×2 + 52.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184364 ms (missed cycles : 5). + 52.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184364 ms (missed cycles : 5).[0m ×2 + 53.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417014 ms (missed cycles : 2). + 53.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417014 ms (missed cycles : 2).[0m ×2 + 53.47sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 1.418ms + 54.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319484 ms (missed cycles : 5). + 54.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319484 ms (missed cycles : 5).[0m ×2 + 55.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678185 ms (missed cycles : 5). + 55.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678185 ms (missed cycles : 5).[0m ×2 + 56.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744599 ms (missed cycles : 4). + 56.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744599 ms (missed cycles : 4).[0m ×2 + 57.18sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 7.125ms + 57.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051325 ms (missed cycles : 2). + 57.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051325 ms (missed cycles : 2).[0m ×2 + 58.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944300 ms (missed cycles : 2). + 58.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944300 ms (missed cycles : 2).[0m ×2 + 58.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 58.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784313399.96315360 seconds ×3 + 58.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.188ms + 58.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.167ms + 59.22sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784313400.53748202 seconds. ×3 + 59.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.968ms + 59.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.728266 ms (missed cycles : 6). + 59.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.728266 ms (missed cycles : 6).[0m ×2 + 59.54sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 59.56sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.199229 ms (missed cycles : 5). + 60.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.199229 ms (missed cycles : 5).[0m ×2 + 61.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364634 ms (missed cycles : 3). + 61.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364634 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 147 warnings · 144 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.30sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.30sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061009 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061009 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865039 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865039 ms (missed cycles : 2).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955556 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955556 ms (missed cycles : 2).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.931097 ms (missed cycles : 5). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.931097 ms (missed cycles : 5).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314741 ms (missed cycles : 4). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314741 ms (missed cycles : 4).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015568 ms (missed cycles : 2). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015568 ms (missed cycles : 2).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715568 ms (missed cycles : 4). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715568 ms (missed cycles : 4).[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.828661 ms (missed cycles : 7). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.828661 ms (missed cycles : 7).[0m ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161739 ms (missed cycles : 2). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161739 ms (missed cycles : 2).[0m ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384345 ms (missed cycles : 2). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384345 ms (missed cycles : 2).[0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495974 ms (missed cycles : 4). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495974 ms (missed cycles : 4).[0m ×2 + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900961 ms (missed cycles : 5). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900961 ms (missed cycles : 5).[0m ×2 + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859617 ms (missed cycles : 2). + 18.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859617 ms (missed cycles : 2).[0m ×2 + 19.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.163489 ms (missed cycles : 5). + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.163489 ms (missed cycles : 5).[0m ×2 + 20.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348423 ms (missed cycles : 4). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348423 ms (missed cycles : 4).[0m ×2 + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281194 ms (missed cycles : 4). + 21.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281194 ms (missed cycles : 4).[0m ×2 + 22.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181383 ms (missed cycles : 2). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181383 ms (missed cycles : 2).[0m ×2 + 23.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.761ms + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496440 ms (missed cycles : 4). + 23.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496440 ms (missed cycles : 4).[0m ×2 + 24.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765523 ms (missed cycles : 3). + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765523 ms (missed cycles : 3).[0m ×2 + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.707380 ms (missed cycles : 7). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.707380 ms (missed cycles : 7).[0m ×2 + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034822 ms (missed cycles : 3). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034822 ms (missed cycles : 3).[0m ×2 + 27.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799877 ms (missed cycles : 4). + 27.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799877 ms (missed cycles : 4).[0m ×2 + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166657 ms (missed cycles : 3). + 29.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166657 ms (missed cycles : 3).[0m ×2 + 30.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613480 ms (missed cycles : 2). + 30.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613480 ms (missed cycles : 2).[0m ×2 + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162662 ms (missed cycles : 5). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162662 ms (missed cycles : 5).[0m ×2 + 32.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619273 ms (missed cycles : 6). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619273 ms (missed cycles : 6).[0m ×2 + 33.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765720 ms (missed cycles : 3). + 33.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765720 ms (missed cycles : 3).[0m ×2 + 34.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532936 ms (missed cycles : 2). + 34.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532936 ms (missed cycles : 2).[0m ×2 + 35.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792267 ms (missed cycles : 3). + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792267 ms (missed cycles : 3).[0m ×2 + 36.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746280 ms (missed cycles : 3). + 36.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746280 ms (missed cycles : 3).[0m ×2 + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973534 ms (missed cycles : 5). + 37.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973534 ms (missed cycles : 5).[0m ×2 + 38.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084774 ms (missed cycles : 2). + 38.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084774 ms (missed cycles : 2).[0m ×2 + 39.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659059 ms (missed cycles : 3). + 39.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659059 ms (missed cycles : 3).[0m ×2 + 40.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844972 ms (missed cycles : 2). + 40.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844972 ms (missed cycles : 2).[0m ×2 + 41.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659667 ms (missed cycles : 4). + 41.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659667 ms (missed cycles : 4).[0m ×2 + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847648 ms (missed cycles : 2). + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847648 ms (missed cycles : 2).[0m ×2 + 43.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456410 ms (missed cycles : 2). + 43.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456410 ms (missed cycles : 2).[0m ×2 + 44.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433499 ms (missed cycles : 4). + 44.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433499 ms (missed cycles : 4).[0m ×2 + 45.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462837 ms (missed cycles : 3). + 45.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462837 ms (missed cycles : 3).[0m ×2 + 46.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912744 ms (missed cycles : 2). + 46.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912744 ms (missed cycles : 2).[0m ×2 + 46.95sINFOjoint_trajectory_controllerGoal reached, success! + 46.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784313174.46327567 seconds ×3 + 47.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.290ms + 47.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 47.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 47.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784313175.01319885 seconds. ×3 + 47.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749719 ms (missed cycles : 2). + 47.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749719 ms (missed cycles : 2).[0m ×2 + 48.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.263ms + 48.43sINFOobjective_server_nodeFound path in 0 iterations (2.3581e-05 s). ×2 + 48.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212070 ms (missed cycles : 5). + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212070 ms (missed cycles : 5).[0m ×2 + 49.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327777 ms (missed cycles : 3). + 49.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327777 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.8s | 108 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955067 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955067 ms (missed cycles : 5).[0m ×2 + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936987 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936987 ms (missed cycles : 3).[0m ×2 + 1.76sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.76sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.81sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784313239.81933236 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710344 ms (missed cycles : 6). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710344 ms (missed cycles : 6).[0m ×2 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707824 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707824 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784313241.38256669 seconds. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189939 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189939 ms (missed cycles : 2).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701345 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701345 ms (missed cycles : 3).[0m ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.24sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.24sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.25sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.783325 ms (missed cycles : 6). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.783325 ms (missed cycles : 6).[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319163 ms (missed cycles : 3). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319163 ms (missed cycles : 3).[0m ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.159465 ms (missed cycles : 6). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.159465 ms (missed cycles : 6).[0m ×2 + 8.48sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840502 ms (missed cycles : 4). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840502 ms (missed cycles : 4).[0m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552023 ms (missed cycles : 2). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552023 ms (missed cycles : 2).[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280074 ms (missed cycles : 4). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280074 ms (missed cycles : 4).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087177 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087177 ms (missed cycles : 2).[0m ×2 + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348780 ms (missed cycles : 2). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348780 ms (missed cycles : 2).[0m ×2 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420478 ms (missed cycles : 4). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420478 ms (missed cycles : 4).[0m ×2 + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062063 ms (missed cycles : 5). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062063 ms (missed cycles : 5).[0m ×2 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380996 ms (missed cycles : 4). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380996 ms (missed cycles : 4).[0m ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959585 ms (missed cycles : 3). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959585 ms (missed cycles : 3).[0m ×2 + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987531 ms (missed cycles : 4). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987531 ms (missed cycles : 4).[0m ×2 + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476610 ms (missed cycles : 4). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476610 ms (missed cycles : 4).[0m ×2 + 20.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691773 ms (missed cycles : 3). + 20.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691773 ms (missed cycles : 3).[0m ×2 + 21.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858567 ms (missed cycles : 2). + 21.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858567 ms (missed cycles : 2).[0m ×2 + 22.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.425264 ms (missed cycles : 4). + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.425264 ms (missed cycles : 4).[0m ×2 + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386480 ms (missed cycles : 3). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386480 ms (missed cycles : 3).[0m ×2 + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728003 ms (missed cycles : 3). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728003 ms (missed cycles : 3).[0m ×2 + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991030 ms (missed cycles : 2). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991030 ms (missed cycles : 2).[0m ×2 + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.086462 ms (missed cycles : 8). + 26.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.086462 ms (missed cycles : 8).[0m ×2 + 27.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031402 ms (missed cycles : 5). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031402 ms (missed cycles : 5).[0m ×2 + 28.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159679 ms (missed cycles : 2). + 28.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159679 ms (missed cycles : 2).[0m ×2 + 29.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680537 ms (missed cycles : 3). + 29.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680537 ms (missed cycles : 3).[0m ×2 + 30.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095984 ms (missed cycles : 2). + 30.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095984 ms (missed cycles : 2).[0m ×2 + 31.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332982 ms (missed cycles : 2). + 31.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332982 ms (missed cycles : 2).[0m ×2 + 32.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221644 ms (missed cycles : 2). + 32.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221644 ms (missed cycles : 2).[0m ×2 + 33.65sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784313271.65272403 seconds ×3 + 33.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 33.89sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 1.520ms + 33.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.365878 ms (missed cycles : 4). + 33.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.365878 ms (missed cycles : 4).[0m ×2 + 34.22sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784313272.22440410 seconds. ×3 + 34.57sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 34.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085400 ms (missed cycles : 2). + 34.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085400 ms (missed cycles : 2).[0m ×2 + 35.59sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 2.290ms + 35.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 35.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712454 ms (missed cycles : 2). + 35.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712454 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.0s | 57 warnings · 119 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678185 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678185 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744599 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744599 ms (missed cycles : 4).[0m ×2 + 1.94sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 7.125ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051325 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051325 ms (missed cycles : 2).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944300 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944300 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 3.36sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.36sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784313399.96315360 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.188ms + 3.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.167ms + 3.98sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784313400.53748202 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.968ms + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.728266 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.728266 ms (missed cycles : 6).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.34sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.34sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.34sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.34sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.199229 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.199229 ms (missed cycles : 5).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364634 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364634 ms (missed cycles : 3).[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914976 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914976 ms (missed cycles : 2).[0m ×2 + 7.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.646ms + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572234 ms (missed cycles : 2). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572234 ms (missed cycles : 2).[0m ×2 + 8.52sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.56sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×6 + 8.62sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.65sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.93sINFOobjective_server_nodeFound path in 0 iterations (8.81e-07 s). ×2 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151049 ms (missed cycles : 2). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151049 ms (missed cycles : 2).[0m ×2 + 9.17sINFOobjective_server_nodeFound path in 69 iterations (0.050718 s). ×2 + 9.35sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.77sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.81sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 10.12sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821986 ms (missed cycles : 3). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821986 ms (missed cycles : 3).[0m ×2 + 10.36sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541794 ms (missed cycles : 4). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541794 ms (missed cycles : 4).[0m ×2 + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123960 ms (missed cycles : 5). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123960 ms (missed cycles : 5).[0m ×2 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075655 ms (missed cycles : 2). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075655 ms (missed cycles : 2).[0m ×2 + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285080 ms (missed cycles : 5). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285080 ms (missed cycles : 5).[0m ×2 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250828 ms (missed cycles : 4). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250828 ms (missed cycles : 4).[0m ×2 + 16.36sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784313412.92017126 seconds ×3 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250784 ms (missed cycles : 5). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250784 ms (missed cycles : 5).[0m ×2 + 16.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784313413.50775790 seconds. ×3 + 16.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.96sINFOmove_groupClearing octomap...[0m ×2 + 16.97sINFOmove_groupOctomap cleared.[0m ×2 + 17.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784313413.95871210 seconds ×3 + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061864 ms (missed cycles : 2). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061864 ms (missed cycles : 2).[0m ×2 + 17.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.540ms + 17.63sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 2.064ms + 17.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784313414.51221061 seconds. ×3 + 18.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784313415.05235314 seconds ×3 + 18.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592103 ms (missed cycles : 4). + 18.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592103 ms (missed cycles : 4).[0m ×2 + 18.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 91 errors · 33 warnings · 425 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285080 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285080 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250828 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250828 ms (missed cycles : 4).[0m ×2 + 2.02sINFOjoint_trajectory_controllerGoal reached, success! + 2.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.06sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784313412.92017126 seconds ×3 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250784 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250784 ms (missed cycles : 5).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784313413.50775790 seconds. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784313413.95871210 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061864 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061864 ms (missed cycles : 2).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.540ms + 3.33sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 2.064ms + 3.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784313414.51221061 seconds. ×3 + 4.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784313415.05235314 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592103 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592103 ms (missed cycles : 4).[0m ×2 + 4.44sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869429 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869429 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854223 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854223 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075729 ms (missed cycles : 5). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075729 ms (missed cycles : 5).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989937 ms (missed cycles : 4). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989937 ms (missed cycles : 4).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761125 ms (missed cycles : 3). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761125 ms (missed cycles : 3).[0m ×2 + 10.02sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORweb_video_server-33process[web_video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 10.06sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORweb_video_auth_proxy-35process has died [pid 13549, 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 + 10.06sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 10.10sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORweb_bridge_auth_proxy-34process has died [pid 13546, 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 + 10.10sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORfixed_lag_smoother_node-8process[fixed_lag_smoother_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sINFOweb_video_server-33sending signal 'SIGTERM' to process[web_video_server-33] ×2 + 10.18sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 10.20sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 10.22sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 10.25sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 10.27sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 10.30sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 10.32sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 10.34sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 10.35sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.752317 ms (missed cycles : 9). + 10.37sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 10.40sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 10.43sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 10.44sINFOweb_video_server-33process has finished cleanly [pid 13545] ×2 + 10.45sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 10.47sINFOtf2_web_republisher_node-32process has finished cleanly [pid 13544] ×2 + 10.49sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 10.49sINFOcontroller_managerShutdown request received.... + 10.49sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.49sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.49sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.49sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.49sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.49sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.49sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.49sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.49sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.49sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.49sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.49sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.49sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.49sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.49sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.49sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.49sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.49sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.49sINFOcontroller_managerShutting down the controller manager. + 10.52sINFOfixed_lag_smoother_node-8sending signal 'SIGTERM' to process[fixed_lag_smoother_node-8] ×2 + 10.55sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.55sERRORmove_group-21process has died [pid 13462, 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_14487oid --params-file /tmp/launch_params_nlg2kmeh --params-file /tmp/launch_params_medwkzv_ --params-file /tmp/launch_params_4qpn8kye --params-file /tmp/launch_params_warhrv9n --params-file /tmp/launch_params_lslktena']. ×2 + 10.55sERRORui_teleop_bridge-30process has died [pid 13527, 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_a50tfsgb']. ×2 + 10.57sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.58sINFOcomponent_container_mt-28process has finished cleanly [pid 13525] ×2 + 10.60sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.62sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] ×2 + 10.63sINFOexecute_objective_bridge-29process has finished cleanly [pid 13526] ×2 + 10.65sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] ×2 + 10.67sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.69sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.69sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.69sINFOcontroller_serverCleaning up + 10.69sINFOlocal_costmap.local_costmapCleaning up + 10.69sERRORobjective_server_node_main-26process has died [pid 13523, 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_f1ujpckv --params-file /tmp/launch_params_avcyva1b --params-file /tmp/launch_params_jplaqtsi --params-file /tmp/launch_params_i287f2t0 --params-file /tmp/launch_params_lhtjp6op --params-file /tmp/launch_params_6ov45_jh --params-file /tmp/launch_params_bpwto9i1 --params-file /tmp/launch_params_zu1itbkz --params-file /tmp/launch_params_fwguxhz1']. ×2 + 10.69sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.69sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.69sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.69sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.69sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 10.69sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.69sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.69sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.69sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.69sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.69sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.69sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.69sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.70sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.70sINFOobjective_server_node[0;m[0m[INFO] [2026-07-17 18:37:01.180] signal_handler(SIGINT/SIGTERM)[0m ×2 + 10.70sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.70sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.70sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.752317 ms (missed cycles : 9).[0m ×2 + 10.70sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.70sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.71sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.71sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 10.71sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.71sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.71sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.71sERRORmove_groupStack trace (most recent call last) in thread 14090: ×2 + 10.71sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.71sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f44159f8a63, in __clone ×2 + 10.71sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f441596baa3, in ×2 + 10.71sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4415bfddb3, in ×2 + 10.71sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f44162521c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.71sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4415f704d0, in rclcpp::Rate::sleep() ×2 + 10.71sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4415ec3a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.71sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4415e88a71, in ×2 + 10.71sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4415bcc390, in __cxa_throw ×2 + 10.71sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4415bb6a54, in std::terminate() ×2 + 10.71sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4415bcc0d9, in ×2 + 10.71sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4415bb6ff4, in ×2 + 10.71sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f44158f78fe, in abort ×2 + 10.71sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f441591427d, in raise ×2 + 10.71sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f441596db2c, in pthread_kill ×2 + 10.71sERRORmove_groupAborted (Signal sent by tkill() 13462 0) ×2 + 10.71sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.71sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.71sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.71sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.71sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.71sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.71sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.71sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.71sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.71sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.71sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.71sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.71sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.71sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.72sINFOobjective_server_node[2026-07-17 18:37:01.376] [moveit_pro_license] [info] ×2 + 10.72sINFOobjective_server_node************************************************* ×4 + 10.72sINFOobjective_server_node* MoveIt Pro License ×2 + 10.72sINFOobjective_server_node* Application has successfully terminated ×2 + 10.72sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.72sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.72sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.72sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d954ae06a4, in _start ×2 + 10.72sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f031c5c228a, in __libc_start_main ×2 + 10.72sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f031c5c21d0, in ×2 + 10.72sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f031c5dfbbd, in exit ×2 + 10.72sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f031c5dfa75, in ×2 + 10.72sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f031caae8f5, in spdlog::details::registry::~registry() ×2 + 10.72sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d954ae0d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.72sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d954ae7315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.72sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d954ae65a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.72sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d954ae2b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.72sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d954ae0d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.72sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f031d164454, in rclcpp::Node::~Node() ×2 + 10.72sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f031d11f515, in ×2 + 10.72sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f031d162d20, in ×2 + 10.72sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f031d162c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.72sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f031d11f5d9, in ×2 + 10.72sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f031d124161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.72sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f02c82da160]) ×2 + 10.72sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.72sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.72sINFOodom_qos_relay.pymain() ×2 + 10.73sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.73sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.73sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.73sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.73sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.73sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.73sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.73sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.73sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.73sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.73sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.73sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.73sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.73sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.73sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.73sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.73sERRORodom_world_drift.pyTraceback (most recent call last): ×2 + 10.73sINFOodom_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 + 10.73sINFOodom_world_drift.pymain() ×2 + 10.73sINFOodom_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 + 10.73sINFOodom_world_drift.pyrclpy.spin(node) ×2 + 10.73sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.73sINFOodom_world_drift.pyexecutor.spin_once() ×2 + 10.73sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.73sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) ×2 + 10.73sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.73sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.73sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.73sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.73sINFOodom_world_drift.pyreturn next(self._cb_iter) ×2 + 10.73sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.73sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.73sINFOodom_world_drift.pyraise ExternalShutdownException() ×2 + 10.73sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException ×2 + 10.73sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.73sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 10.73sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.73sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.73sINFOmap_serverDeactivating + 10.73sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.73sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.73sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.74sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.74sINFOmap_serverCleaning up + 10.74sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.74sINFOsmoother_serverCleaning up + 10.76sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.76sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.76sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.76sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.76sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.78sERRORamclThe bond connection to the lifecycle manager has been broken + 10.79sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.79sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.79sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.79sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.79sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.79sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.79sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.79sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.79sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.19sERRORcomponent_container_isolated-1process has died [pid 13361, 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_8o6wc3vn --params-file /tmp/launch_params_njoy5dze -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.40sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 13522] ×2 + 11.42sINFOmove_joint_resampler_node-24process has finished cleanly [pid 13520] ×2 + 11.50sINFOparameter_manager_node-22process has finished cleanly [pid 13463] ×2 + 11.51sINFOwaypoint_manager_node-23process has finished cleanly [pid 13464] ×2 + 11.55sINFOcomponent_container_mt-27process has finished cleanly [pid 13524] ×2 + 11.59sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 13367] ×2 + 11.60sINFOfixed_lag_smoother_node-8process has finished cleanly [pid 13368] ×2 + 11.62sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 13366] ×2 + 11.67sINFOslip_aware_odom-4process has finished cleanly [pid 13364] ×2 + 11.70sERRORodom_qos_relay.py-5process has died [pid 13365, 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 + 11.71sINFOstatic_transform_publisher-2process has finished cleanly [pid 13362] ×2 + 12.73sERRORodom_world_drift.py-3process has died [pid 13363, 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 + 13.02sINFOweb_bridge-31process has finished cleanly [pid 13543] ×2 + 13.02sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 13.31sINFOros2_control_node-9process has finished cleanly [pid 13369] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 9 errors · 51 warnings · 66 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946160 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946160 ms (missed cycles : 2).[0m ×2 + 0.12sINFOjoint_trajectory_controllerGoal reached, success! + 0.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950344 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950344 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814448 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814448 ms (missed cycles : 6).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.041668 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.041668 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.27sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 3.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784313304.25464106 seconds ×3 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.008ms + 3.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.281ms + 3.94sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784313304.91978884 seconds. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464179 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464179 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733761 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733761 ms (missed cycles : 3).[0m ×2 + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.888ms + 5.48sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.51sINFOros2_control_nodeMuJoCo sim: 0.69% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.52sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.52sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.52sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360586 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360586 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602215 ms (missed cycles : 4). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602215 ms (missed cycles : 4).[0m ×2 + 7.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.173ms + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954821 ms (missed cycles : 3). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954821 ms (missed cycles : 3).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124259 ms (missed cycles : 4). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124259 ms (missed cycles : 4).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430957 ms (missed cycles : 4). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430957 ms (missed cycles : 4).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804776 ms (missed cycles : 5). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804776 ms (missed cycles : 5).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955725 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955725 ms (missed cycles : 2).[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693112 ms (missed cycles : 3). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693112 ms (missed cycles : 3).[0m ×2 + 14.11sINFOjoint_trajectory_controllerGot request to cancel goal + 14.11sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.11sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784313315.10772943 seconds ×3 + 14.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.682ms + 14.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.168ms + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968693 ms (missed cycles : 3). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968693 ms (missed cycles : 3).[0m ×2 + 14.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784313315.65528870 seconds. ×3 + 15.01sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283495 ms (missed cycles : 4). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283495 ms (missed cycles : 4).[0m ×2 + 16.41sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.676ms + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814841 ms (missed cycles : 6). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814841 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ 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 3.034911 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034911 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445763 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445763 ms (missed cycles : 4).[0m ×2 + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925140 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925140 ms (missed cycles : 2).[0m ×2 + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516733 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516733 ms (missed cycles : 5).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.47sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784313235.22661996 seconds ×3 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 3.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 4.07sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784313235.78920770 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990616 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990616 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.45sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.45sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.815820 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.815820 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955067 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955067 ms (missed cycles : 5).[0m ×2 + 7.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936987 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936987 ms (missed cycles : 3).[0m ×2 + 8.10sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784313239.81933236 seconds ×3 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710344 ms (missed cycles : 6). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710344 ms (missed cycles : 6).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707824 ms (missed cycles : 3). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707824 ms (missed cycles : 3).[0m ×2 + 9.66sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784313241.38256669 seconds. ×3 + 10.01sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189939 ms (missed cycles : 2). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189939 ms (missed cycles : 2).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701345 ms (missed cycles : 3). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701345 ms (missed cycles : 3).[0m ×2 + 11.49sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 30 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456410 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456410 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433499 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433499 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462837 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462837 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912744 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912744 ms (missed cycles : 2).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.33sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784313174.46327567 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.290ms + 3.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 3.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 3.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784313175.01319885 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749719 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749719 ms (missed cycles : 2).[0m ×2 + 4.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.263ms + 4.81sINFOobjective_server_nodeFound path in 0 iterations (2.3581e-05 s). ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.83sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.83sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.83sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212070 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212070 ms (missed cycles : 5).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327777 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327777 ms (missed cycles : 3).[0m ×2 + 6.94sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784313178.05337191 seconds ×3 + 7.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 7.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.164ms + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112372 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112372 ms (missed cycles : 2).[0m ×2 + 7.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784313178.60650730 seconds. ×3 + 7.87sINFOobjective_server_nodeFound path in 0 iterations (8.1e-07 s). ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684402 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684402 ms (missed cycles : 3).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289747 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289747 ms (missed cycles : 2).[0m ×2 + 9.35sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.0s | 21 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075655 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075655 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285080 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285080 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250828 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250828 ms (missed cycles : 4).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784313412.92017126 seconds ×3 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250784 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250784 ms (missed cycles : 5).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784313413.50775790 seconds. ×3 + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.72sINFOmove_groupClearing octomap...[0m ×2 + 3.73sINFOmove_groupOctomap cleared.[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784313413.95871210 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061864 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061864 ms (missed cycles : 2).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.540ms + 4.39sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 2.064ms + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784313414.51221061 seconds. ×3 + 5.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784313415.05235314 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592103 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592103 ms (missed cycles : 4).[0m ×2 + 5.50sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869429 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869429 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061009 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061009 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912744 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912744 ms (missed cycles : 2).[0m ×2 + 0.17sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.17sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784313174.46327567 seconds ×3 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.290ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 0.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784313175.01319885 seconds. ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749719 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749719 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.263ms + 1.65sINFOobjective_server_nodeFound path in 0 iterations (2.3581e-05 s). ×2 + 1.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.67sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.67sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.67sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.67sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212070 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212070 ms (missed cycles : 5).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327777 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327777 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784313178.05337191 seconds ×3 + 3.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.164ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112372 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112372 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784313178.60650730 seconds. ×3 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (8.1e-07 s). ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684402 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684402 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289747 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289747 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034911 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034911 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445763 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445763 ms (missed cycles : 4).[0m ×2 + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925140 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925140 ms (missed cycles : 2).[0m ×2 + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516733 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516733 ms (missed cycles : 5).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784313235.22661996 seconds ×3 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 3.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 4.07sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784313235.78920770 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990616 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990616 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.815820 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.815820 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955067 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955067 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034911 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034911 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445763 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445763 ms (missed cycles : 4).[0m ×2 + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925140 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925140 ms (missed cycles : 2).[0m ×2 + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516733 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516733 ms (missed cycles : 5).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784313235.22661996 seconds ×3 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 3.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 4.07sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784313235.78920770 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990616 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990616 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.815820 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.815820 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955067 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955067 ms (missed cycles : 5).[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 7.103787 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103787 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.37sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313344.68547416 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.55sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.536ms + 3.66sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.462ms + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313345.30298567 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.95sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.293ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 33 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456410 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456410 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433499 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433499 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462837 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462837 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912744 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912744 ms (missed cycles : 2).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784313174.46327567 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.290ms + 3.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 3.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 3.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784313175.01319885 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749719 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749719 ms (missed cycles : 2).[0m ×2 + 4.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.263ms + 4.81sINFOobjective_server_nodeFound path in 0 iterations (2.3581e-05 s). ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.83sINFOjoint_trajectory_controllerReceived new action goal + 4.83sINFOjoint_trajectory_controllerAccepted new action goal + 4.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212070 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212070 ms (missed cycles : 5).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327777 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327777 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 33 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456410 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456410 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433499 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433499 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462837 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462837 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912744 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912744 ms (missed cycles : 2).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784313174.46327567 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.290ms + 3.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 3.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 3.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784313175.01319885 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749719 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749719 ms (missed cycles : 2).[0m ×2 + 4.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.263ms + 4.81sINFOobjective_server_nodeFound path in 0 iterations (2.3581e-05 s). ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.83sINFOjoint_trajectory_controllerReceived new action goal + 4.83sINFOjoint_trajectory_controllerAccepted new action goal + 4.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212070 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212070 ms (missed cycles : 5).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327777 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327777 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 3.618993 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618993 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.90% 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 3.652281 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 5.47sINFOobjective_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 + 5.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034911 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034911 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445763 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445763 ms (missed cycles : 4).[0m ×2 + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925140 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925140 ms (missed cycles : 2).[0m ×2 + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516733 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516733 ms (missed cycles : 5).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784313235.22661996 seconds ×3 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 3.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 4.07sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784313235.78920770 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990616 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990616 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.815820 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.815820 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955067 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955067 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034911 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034911 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445763 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445763 ms (missed cycles : 4).[0m ×2 + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925140 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925140 ms (missed cycles : 2).[0m ×2 + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516733 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516733 ms (missed cycles : 5).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784313235.22661996 seconds ×3 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 3.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 4.07sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784313235.78920770 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990616 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990616 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.815820 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.815820 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955067 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955067 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034911 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034911 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445763 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445763 ms (missed cycles : 4).[0m ×2 + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925140 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925140 ms (missed cycles : 2).[0m ×2 + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516733 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516733 ms (missed cycles : 5).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784313235.22661996 seconds ×3 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 3.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 4.07sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784313235.78920770 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990616 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990616 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.815820 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.815820 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955067 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955067 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680537 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680537 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095984 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095984 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332982 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332982 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221644 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221644 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! + 3.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784313271.65272403 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 4.07sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 1.520ms + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.365878 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.365878 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784313272.22440410 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 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085400 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085400 ms (missed cycles : 2).[0m ×2 + 5.77sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 2.290ms + 5.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712454 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712454 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680537 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680537 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095984 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095984 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332982 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332982 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221644 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221644 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! + 3.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784313271.65272403 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 4.07sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 1.520ms + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.365878 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.365878 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784313272.22440410 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 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085400 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085400 ms (missed cycles : 2).[0m ×2 + 5.77sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 2.290ms + 5.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712454 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712454 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680537 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680537 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095984 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095984 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332982 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332982 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221644 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221644 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! + 3.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784313271.65272403 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 4.07sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 1.520ms + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.365878 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.365878 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784313272.22440410 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 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085400 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085400 ms (missed cycles : 2).[0m ×2 + 5.77sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 2.290ms + 5.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712454 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712454 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 3.618993 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618993 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.90% 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 3.652281 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 5.47sINFOobjective_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 + 5.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[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 7.103787 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103787 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.37sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313344.68547416 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.55sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.536ms + 3.66sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.462ms + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313345.30298567 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.95sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.293ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 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 3.618993 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618993 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.90% 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 3.652281 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 5.47sINFOobjective_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 + 5.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 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 7.103787 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103787 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.37sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313344.68547416 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.55sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.536ms + 3.66sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.462ms + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313345.30298567 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.95sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.293ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 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 7.103787 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103787 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.37sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313344.68547416 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.55sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.536ms + 3.66sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.462ms + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313345.30298567 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.95sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.293ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 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 7.103787 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103787 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.37sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313344.68547416 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.55sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.536ms + 3.66sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.462ms + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313345.30298567 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.95sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.293ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 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 7.103787 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103787 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.37sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313344.68547416 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.55sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.536ms + 3.66sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.462ms + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313345.30298567 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.95sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.293ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 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 7.103787 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103787 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.37sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313344.68547416 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.55sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.536ms + 3.66sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.462ms + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313345.30298567 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.95sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.293ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 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 7.103787 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103787 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497104 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626870 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012716 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.37sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313344.68547416 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.55sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.536ms + 3.66sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.462ms + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313345.30298567 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407964 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.95sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.293ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641587 ms (missed cycles : 6).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121717 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075655 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075655 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285080 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.285080 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250828 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250828 ms (missed cycles : 4).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784313412.92017126 seconds ×3 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250784 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250784 ms (missed cycles : 5).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784313413.50775790 seconds. ×3 + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.72sINFOmove_groupClearing octomap...[0m ×2 + 3.73sINFOmove_groupOctomap cleared.[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784313413.95871210 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061864 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061864 ms (missed cycles : 2).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.540ms + 4.39sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 2.064ms + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784313414.51221061 seconds. ×3 + 5.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784313415.05235314 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592103 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592103 ms (missed cycles : 4).[0m ×2 + 5.50sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 31.1s | 70 errors · 689 warnings · 1887 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/2026-07-17-18-26-06-943346-2fbee1c033b9-9242 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 13.03sINFOros2_control_node-9process started with pid [9300] + 13.04sINFOmove_group-21process started with pid [9390] + 13.04sINFOparameter_manager_node-22process started with pid [9391] + 13.04sINFOwaypoint_manager_node-23process started with pid [9392] + 13.04sINFOmove_joint_resampler_node-24process started with pid [9400] + 13.05sINFOmove_end_effector_resampler_node-25process started with pid [9401] + 13.05sINFOobjective_server_node_main-26process started with pid [9404] + 13.05sINFOcomponent_container_mt-27process started with pid [9423] + 13.05sINFOcomponent_container_mt-28process started with pid [9426] + 13.05sINFOexecute_objective_bridge-29process started with pid [9427] + 13.05sINFOui_teleop_bridge-30process started with pid [9428] + 13.05sINFOweb_bridge-31process started with pid [9435] + 13.05sINFOtf2_web_republisher_node-32process started with pid [9437] + 13.06sINFOweb_video_server-33process started with pid [9440] + 13.06sINFOweb_bridge_auth_proxy-34process started with pid [9441] + 13.06sINFOweb_video_auth_proxy-35process started with pid [9442] + 13.11sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 13.11sINFOcomponent_container_isolated-1process started with pid [9292] + 13.12sINFOstatic_transform_publisher-2process started with pid [9293] + 13.12sINFOodom_world_drift.py-3process started with pid [9294] + 13.12sINFOslip_aware_odom-4process started with pid [9295] + 13.12sINFOodom_qos_relay.py-5process started with pid [9296] + 13.13sINFOscan_to_scan_filter_chain-6process started with pid [9297] + 13.13sINFOscan_to_scan_filter_chain-7process started with pid [9298] + 13.13sINFOfixed_lag_smoother_node-8process started with pid [9299] + 13.14sINFOros2-10process started with pid [9378] + 13.14sINFOros2-11process started with pid [9379] + 13.14sINFOros2-12process started with pid [9380] + 13.16sINFOros2-13process started with pid [9381] + 13.16sINFOros2-14process started with pid [9382] + 13.17sINFOros2-15process started with pid [9383] + 13.17sINFOros2-16process started with pid [9384] + 13.17sINFOros2-17process started with pid [9385] + 13.18sINFOros2-18process started with pid [9386] + 13.18sINFOros2-19process started with pid [9387] + 13.18sINFOros2-20process started with pid [9388] + 13.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×3 + 13.30sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×3 + 13.30sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×3 + 13.30sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 13.30sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 13.30sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 13.30sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 13.30sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 13.30sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 13.30sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 13.30sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 13.30sWARNros2_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 + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532932 ms (missed cycles : 3).[0m + 13.31sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 13.31sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 13.31sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 13.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.31sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 13.40sINFOcomponent_container_mtRobot initialized[0m ×3 + 13.40sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 13.40sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 13.40sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 13.42sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 13.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 13.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 13.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 13.52sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 13.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 13.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 13.74sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 13.74sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 13.74sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 13.74sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 13.74sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 13.74sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 13.74sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 13.74sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 13.74sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×3 + 13.79sWARNscan_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 + 13.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 13.90sINFOmove_groupLoaded robot model in 0.35666 seconds[0m + 13.90sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 13.90sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 13.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 13.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 14.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.615116 ms (missed cycles : 6).[0m + 14.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 14.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 14.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 14.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 14.50sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 14.51sWARNmove_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 + 14.51sWARNmove_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 + 14.51sWARNmove_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 + 14.52sWARNmove_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 + 14.52sWARNmove_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 + 14.52sWARNmove_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 + 14.52sWARNmove_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 + 14.53sWARNmove_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 + 14.53sWARNmove_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 + 14.53sWARNmove_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 + 14.85sINFOwaypoint_manager_nodeLoaded robot model in 0.360013 seconds[0m + 14.85sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 14.85sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.10sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×12 + 15.27sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 15.27sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 15.27sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 15.27sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.27sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167279 ms (missed cycles : 2).[0m + 15.29sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 15.29sINFOmove_groupStarting planning scene monitor[0m ×3 + 15.30sINFOmove_groupListening to '/planning_scene'[0m ×3 + 15.30sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 15.30sINFOmove_groupListening to 'collision_object'[0m ×3 + 15.30sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 15.33sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 15.34sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 15.46sWARNwaypoint_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 + 15.46sWARNwaypoint_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 + 15.47sWARNwaypoint_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 + 15.47sWARNwaypoint_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 + 15.48sWARNwaypoint_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 + 15.48sWARNwaypoint_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 + 15.48sWARNwaypoint_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 + 15.48sWARNwaypoint_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 + 15.49sWARNwaypoint_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 + 15.50sWARNwaypoint_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 + 15.50sWARNwaypoint_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 + 15.50sWARNwaypoint_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 + 15.50sWARNwaypoint_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 + 15.50sWARNwaypoint_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 + 15.50sWARNwaypoint_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 + 15.51sWARNwaypoint_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 + 15.51sWARNwaypoint_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 + 15.51sWARNwaypoint_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 + 15.51sWARNwaypoint_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 + 15.51sWARNwaypoint_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 + 15.52sWARNwaypoint_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 + 15.52sWARNwaypoint_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 + 15.52sWARNwaypoint_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 + 15.52sWARNwaypoint_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 + 15.52sWARNwaypoint_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 + 15.52sWARNwaypoint_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 + 15.52sWARNwaypoint_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 + 15.52sWARNwaypoint_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 + 15.98sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 15.99sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.99sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 16.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 16.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 16.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 16.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 16.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 16.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 16.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 16.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 16.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 16.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 16.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 16.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 16.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 16.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 16.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 16.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 16.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.15sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 16.19sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 16.22sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 16.23sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 16.23sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 16.23sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 16.23sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 16.23sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 16.23sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 16.23sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 16.23sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 16.23sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 16.23sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 16.23sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 16.23sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 16.23sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 16.23sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 16.23sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 16.23sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 16.23sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 16.23sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 16.23sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 16.27sWARNros2_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 + 16.35sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 16.36sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 16.36sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hk9dkvux --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_n1eb_b5_ --params-file /tmp/launch_params_xopf6xs4 [0m + 16.39sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 16.39sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 16.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 16.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 16.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 16.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.40sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.41sWARNcomponent_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 + 16.42sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 16.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 16.43sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 16.53sINFOobjective_server_node[2026-07-17 18:26:26.633] [moveit_pro_license] [info] + 16.53sINFOobjective_server_node************************************************* ×8 + 16.53sINFOobjective_server_node* MoveIt Pro License ×4 + 16.53sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.56sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.56sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.59sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 16.59sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 16.60sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 16.60sINFOcomponent_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 + 16.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 16.60sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 16.61sINFOobjective_server_nodeLoaded robot model in 0.0378979 seconds[0m + 16.61sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 16.61sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580271 ms (missed cycles : 2).[0m + 16.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 16.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 16.84sINFOcomponent_container_mtLoaded robot model in 0.428247 seconds[0m + 16.84sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 16.84sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.85sINFOcomponent_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 + 16.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 16.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 16.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 16.97sINFOros2-12process has finished cleanly [pid 9380] + 16.98sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 16.98sWARNobjective_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 + 16.98sWARNobjective_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 + 16.98sWARNobjective_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 + 16.98sWARNobjective_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 + 16.98sWARNobjective_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 + 16.98sWARNobjective_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 + 16.98sWARNobjective_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 + 16.99sWARNobjective_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 + 16.99sWARNobjective_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 + 16.99sWARNobjective_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 + 17.07sINFOobjective_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 + 17.07sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 17.08sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 17.08sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 17.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hk9dkvux --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_n1eb_b5_ --params-file /tmp/launch_params_xopf6xs4 [0m + 17.10sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 17.10sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 17.10sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 17.10sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 17.10sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 17.10sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 17.10sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 17.13sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 17.13sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 17.13sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 17.14sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 17.14sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 17.14sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 17.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 17.17sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 17.17sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 17.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 17.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 17.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 17.23sWARNcomponent_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 + 17.23sWARNcomponent_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 + 17.24sWARNcomponent_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 + 17.24sWARNcomponent_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 + 17.24sWARNcomponent_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 + 17.24sWARNcomponent_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 + 17.24sWARNcomponent_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 + 17.24sWARNcomponent_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 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×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 + 17.25sWARNcomponent_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 + 17.25sWARNcomponent_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 + 17.26sWARNcomponent_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 + 17.26sWARNcomponent_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 + 17.26sINFOmove_group ×12 + 17.26sINFOmove_group******************************************************** ×6 + 17.26sINFOmove_group* MoveGroup using: ×3 + 17.26sINFOmove_group* - apply_planning_scene_service ×3 + 17.26sINFOmove_group* - clear_octomap_service ×3 + 17.26sINFOmove_group* - get_group_urdf ×3 + 17.26sINFOmove_group* - load_geometry_from_file ×3 + 17.26sINFOmove_group* - get_planning_scene_service ×3 + 17.26sINFOmove_group* - kinematics_service ×3 + 17.26sINFOmove_group* - save_geometry_to_file ×3 + 17.26sINFOmove_group* - GetPlanningGroups ×3 + 17.26sINFOmove_group* - URDFPlanningSceneCapability ×3 + 17.26sINFOmove_group[0m ×3 + 17.26sINFOmove_group[92mYou can start planning now![0m ×3 + 17.34sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 17.53sINFOros2_control_node[2026-07-17 18:26:27.631] [info] Controller state will be published at 20 Hz. + 17.53sINFOros2_control_node[2026-07-17 18:26:27.632] [info] JointVelocityController 'on_configure' succeeded. + 17.61sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 17.61sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 17.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 17.62sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 17.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 17.84sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677457 ms (missed cycles : 2).[0m + 17.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 17.91sINFOros2-19process has finished cleanly [pid 9387] + 17.97sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 17.97sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 17.98sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_hk9dkvux --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_n1eb_b5_ --params-file /tmp/launch_params_xopf6xs4 [0m + 18.05sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 18.05sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 18.06sINFOros2_control_nodeconfigure successful[0m ×9 + 18.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 18.39sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 18.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hk9dkvux --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_n1eb_b5_ --params-file /tmp/launch_params_xopf6xs4 [0m + 18.41sINFOros2-15process has finished cleanly [pid 9383] + 18.52sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 18.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 18.52sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 18.53sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 18.53sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 18.53sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 18.53sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 18.53sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 18.85sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 18.85sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 18.85sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_hk9dkvux --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_n1eb_b5_ --params-file /tmp/launch_params_xopf6xs4 [0m + 18.87sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 18.88sINFOros2-16process has finished cleanly [pid 9384] + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934082 ms (missed cycles : 2).[0m + 18.91sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 18.92sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 18.92sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 18.92sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 18.93sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 19.11sWARNobjective_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 + 19.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 19.25sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 19.25sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 19.25sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hk9dkvux --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_n1eb_b5_ --params-file /tmp/launch_params_xopf6xs4 [0m + 19.27sINFOros2-14process has finished cleanly [pid 9382] + 19.32sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 19.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 19.68sINFOros2_control_node[2026-07-17 18:26:29.786] [info] Controller state will be published at 20 Hz. + 19.68sINFOros2_control_node[2026-07-17 18:26:29.787] [info] JointVelocityController 'on_configure' succeeded. + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838971 ms (missed cycles : 5).[0m + 20.05sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 20.05sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 20.05sINFOros2-20process has finished cleanly [pid 9388] + 20.13sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hk9dkvux --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_n1eb_b5_ --params-file /tmp/launch_params_xopf6xs4 [0m + 20.21sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 20.21sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 20.79sINFOros2_control_node[2026-07-17 18:26:30.900] [warning] No force/torque sensor configured. The VFC will ignore force references. + 20.80sINFOros2_control_node[2026-07-17 18:26:30.905] [info] Controller state will be published at 10 Hz. + 20.80sINFOros2_control_node[2026-07-17 18:26:30.906] [info] VelocityForceController 'on_configure' succeeded. + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790378 ms (missed cycles : 2).[0m + 21.15sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 21.15sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 21.15sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hk9dkvux --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_n1eb_b5_ --params-file /tmp/launch_params_xopf6xs4 [0m + 21.17sINFOros2-18process has finished cleanly [pid 9386] + 21.22sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 21.22sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 21.23sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 21.23sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 21.64sINFOros2-11process has finished cleanly [pid 9379] + 21.77sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 21.77sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 21.78sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hk9dkvux --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_n1eb_b5_ --params-file /tmp/launch_params_xopf6xs4 [0m + 21.85sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 21.86sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 21.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 21.88sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089870 ms (missed cycles : 4).[0m + 22.33sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 22.33sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 22.33sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hk9dkvux --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_n1eb_b5_ --params-file /tmp/launch_params_xopf6xs4 [0m + 22.33sINFOros2-10process has finished cleanly [pid 9378] + 22.41sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 22.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 22.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 22.43sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 22.76sINFOros2-13process has finished cleanly [pid 9381] + 22.83sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 22.83sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 22.84sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hk9dkvux --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_n1eb_b5_ --params-file /tmp/launch_params_xopf6xs4 [0m + 22.87sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 22.87sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566098 ms (missed cycles : 4).[0m + 23.22sINFOros2_control_node[2026-07-17 18:26:33.324] [warning] No force/torque sensor configured. The VFC will ignore force references. + 23.22sINFOros2_control_node[2026-07-17 18:26:33.326] [info] Controller state will be published at 10 Hz. + 23.22sINFOros2_control_node[2026-07-17 18:26:33.327] [info] VelocityForceController 'on_configure' succeeded. + 23.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 23.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 23.55sINFOros2-17process has finished cleanly [pid 9385] + 23.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351435 ms (missed cycles : 3).[0m + 25.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442841 ms (missed cycles : 3).[0m + 26.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.545030 ms (missed cycles : 6).[0m + 26.28sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m + 27.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445718 ms (missed cycles : 5).[0m + 28.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010342 ms (missed cycles : 5).[0m + 28.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784312798.63672233 seconds. + 28.53sINFOmove_groupClearing octomap...[0m ×4 + 28.53sINFOmove_groupOctomap cleared.[0m ×4 + 28.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784312798.64696717 seconds + 29.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784312799.19678164 seconds. + 29.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784312799.20691729 seconds + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831939 ms (missed cycles : 4).[0m + 29.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784312799.75335288 seconds. + 29.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784312799.90403867 seconds + 30.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943288 ms (missed cycles : 4).[0m + 30.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784312800.48115325 seconds. + 30.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 30.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 30.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 30.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 30.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784312800.55130458 seconds + 31.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784312801.10687518 seconds. + 31.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 31.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 31.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 31.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 31.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452745 ms (missed cycles : 3).[0m + 32.06sINFOobjective_server_nodePlanning for 177 path waypoints. + 32.35sINFOros2_control_nodeReceived new action goal[0m ×13 + 32.35sINFOros2_control_nodeAccepted new action goal[0m ×13 + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455440 ms (missed cycles : 3).[0m + 33.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939211 ms (missed cycles : 3).[0m + 34.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428258 ms (missed cycles : 4).[0m + 35.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970200 ms (missed cycles : 2).[0m + 36.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352641 ms (missed cycles : 5).[0m + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255066 ms (missed cycles : 2).[0m + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187493 ms (missed cycles : 3).[0m + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928016 ms (missed cycles : 2).[0m + 40.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901140 ms (missed cycles : 4).[0m + 41.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817209 ms (missed cycles : 2).[0m + 42.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120753 ms (missed cycles : 4).[0m + 43.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132875 ms (missed cycles : 4).[0m + 44.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441003 ms (missed cycles : 3).[0m + 45.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728244 ms (missed cycles : 2).[0m + 47.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883117 ms (missed cycles : 2).[0m + 48.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278525 ms (missed cycles : 4).[0m + 49.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326971 ms (missed cycles : 2).[0m + 50.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324685 ms (missed cycles : 2).[0m + 51.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.707030 ms (missed cycles : 5).[0m + 52.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185417 ms (missed cycles : 2).[0m + 53.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568259 ms (missed cycles : 3).[0m + 54.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897062 ms (missed cycles : 3).[0m + 55.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.746465 ms (missed cycles : 5).[0m + 56.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847380 ms (missed cycles : 5).[0m + 57.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293398 ms (missed cycles : 3).[0m + 58.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988228 ms (missed cycles : 2).[0m + 59.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166358 ms (missed cycles : 3).[0m + 60.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054281 ms (missed cycles : 2).[0m + 61.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637719 ms (missed cycles : 2).[0m + 62.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009191 ms (missed cycles : 4).[0m + 63.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281885 ms (missed cycles : 3).[0m + 64.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956798 ms (missed cycles : 4).[0m + 65.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.656454 ms (missed cycles : 7).[0m + 66.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.114844 ms (missed cycles : 6).[0m + 67.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918254 ms (missed cycles : 4).[0m + 68.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317523 ms (missed cycles : 2).[0m + 70.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302042 ms (missed cycles : 5).[0m + 71.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013006 ms (missed cycles : 4).[0m + 72.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991055 ms (missed cycles : 5).[0m + 73.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.188264 ms (missed cycles : 7).[0m + 73.97sINFOros2_control_nodeGoal reached, success![0m ×12 + 74.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784312844.11346960 seconds + 74.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801915 ms (missed cycles : 2).[0m + 74.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784312844.66229415 seconds. + 75.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996908 ms (missed cycles : 2).[0m + 75.48sINFOobjective_server_nodeFound path in 0 iterations (2.2761e-05 s). + 75.48sINFOobjective_server_nodePath shortcutter: [X____X] + 75.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 76.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985981 ms (missed cycles : 3).[0m + 77.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563684 ms (missed cycles : 3).[0m + 77.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784312847.71244216 seconds + 78.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784312848.26673412 seconds. + 78.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508820 ms (missed cycles : 5).[0m + 78.51sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 79.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902990 ms (missed cycles : 2).[0m + 80.03sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 80.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.460908 ms (missed cycles : 6).[0m + 81.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120545 ms (missed cycles : 3).[0m + 82.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820409 ms (missed cycles : 2).[0m + 83.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837298 ms (missed cycles : 5).[0m + 84.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741616 ms (missed cycles : 2).[0m + 85.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811502 ms (missed cycles : 4).[0m + 86.29sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m + 86.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432996 ms (missed cycles : 3).[0m + 87.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916112 ms (missed cycles : 2).[0m + 88.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.325972 ms (missed cycles : 6).[0m + 89.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803565 ms (missed cycles : 3).[0m + 90.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194637 ms (missed cycles : 6).[0m + 91.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849805 ms (missed cycles : 3).[0m + 92.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.305482 ms (missed cycles : 6).[0m + 93.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695870 ms (missed cycles : 2).[0m + 94.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250570 ms (missed cycles : 2).[0m + 95.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.629315 ms (missed cycles : 6).[0m + 97.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394057 ms (missed cycles : 2).[0m + 98.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097221 ms (missed cycles : 2).[0m + 99.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686179 ms (missed cycles : 3).[0m +100.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487928 ms (missed cycles : 3).[0m +101.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900954 ms (missed cycles : 2).[0m +102.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521146 ms (missed cycles : 2).[0m +103.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721071 ms (missed cycles : 3).[0m +104.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298645 ms (missed cycles : 3).[0m +105.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.649808 ms (missed cycles : 5).[0m +106.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594134 ms (missed cycles : 2).[0m +107.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656383 ms (missed cycles : 4).[0m +108.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271979 ms (missed cycles : 3).[0m +108.80sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +109.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012171 ms (missed cycles : 4).[0m +110.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070415 ms (missed cycles : 2).[0m +111.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151756 ms (missed cycles : 4).[0m +112.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032202 ms (missed cycles : 2).[0m +113.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270009 ms (missed cycles : 2).[0m +114.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938324 ms (missed cycles : 2).[0m +115.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395493 ms (missed cycles : 3).[0m +116.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375326 ms (missed cycles : 2).[0m +117.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.656233 ms (missed cycles : 9).[0m +118.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816165 ms (missed cycles : 5).[0m +119.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604691 ms (missed cycles : 5).[0m +120.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007818 ms (missed cycles : 2).[0m +121.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416042 ms (missed cycles : 2).[0m +122.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887966 ms (missed cycles : 2).[0m +123.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780473 ms (missed cycles : 4).[0m +125.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042580 ms (missed cycles : 2).[0m +126.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373003 ms (missed cycles : 2).[0m +127.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798617 ms (missed cycles : 2).[0m +128.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357100 ms (missed cycles : 4).[0m +129.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102124 ms (missed cycles : 2).[0m +130.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504460 ms (missed cycles : 3).[0m +131.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019769 ms (missed cycles : 2).[0m +132.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115255 ms (missed cycles : 2).[0m +133.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078931 ms (missed cycles : 4).[0m +134.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244725 ms (missed cycles : 2).[0m +134.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784312904.52687407 seconds +134.98sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784312905.09176850 seconds. +135.31sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 +135.33sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +135.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564923 ms (missed cycles : 2).[0m +136.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448170 ms (missed cycles : 6).[0m +137.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826411 ms (missed cycles : 3).[0m +138.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704057 ms (missed cycles : 5).[0m +138.95sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784312909.05353832 seconds +139.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215264 ms (missed cycles : 4).[0m +140.51sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784312910.61890101 seconds. +140.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291596 ms (missed cycles : 5).[0m +140.86sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). +141.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.639498 ms (missed cycles : 5).[0m +142.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +142.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274814 ms (missed cycles : 5).[0m +143.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947718 ms (missed cycles : 4).[0m +144.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983552 ms (missed cycles : 5).[0m +145.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602000 ms (missed cycles : 5).[0m +146.30sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m +146.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.875228 ms (missed cycles : 6).[0m +147.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.618693 ms (missed cycles : 6).[0m +148.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165170 ms (missed cycles : 2).[0m +149.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613382 ms (missed cycles : 2).[0m +150.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.964180 ms (missed cycles : 6).[0m +151.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583251 ms (missed cycles : 3).[0m +152.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258200 ms (missed cycles : 2).[0m +154.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699686 ms (missed cycles : 2).[0m +155.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577308 ms (missed cycles : 6).[0m +156.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.147918 ms (missed cycles : 7).[0m +157.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253957 ms (missed cycles : 4).[0m +158.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772591 ms (missed cycles : 2).[0m +159.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696760 ms (missed cycles : 2).[0m +160.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845508 ms (missed cycles : 3).[0m +161.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298086 ms (missed cycles : 3).[0m +162.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065575 ms (missed cycles : 3).[0m +163.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216657 ms (missed cycles : 2).[0m +164.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142928 ms (missed cycles : 2).[0m +165.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.853407 ms (missed cycles : 6).[0m +166.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153095 ms (missed cycles : 3).[0m +167.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.877097 ms (missed cycles : 7).[0m +168.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718289 ms (missed cycles : 2).[0m +169.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796830 ms (missed cycles : 3).[0m +170.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475801 ms (missed cycles : 3).[0m +170.68sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784312940.78901315 seconds +171.24sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784312941.34350991 seconds. +171.59sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). +171.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462598 ms (missed cycles : 4).[0m +172.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254855 ms (missed cycles : 2).[0m +172.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 +173.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.265153 ms (missed cycles : 6).[0m +174.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.203487 ms (missed cycles : 7).[0m +175.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568564 ms (missed cycles : 3).[0m +176.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952916 ms (missed cycles : 3).[0m +177.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390587 ms (missed cycles : 3).[0m +178.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219116 ms (missed cycles : 3).[0m +180.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031380 ms (missed cycles : 2).[0m +181.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342477 ms (missed cycles : 3).[0m +182.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349415 ms (missed cycles : 3).[0m +183.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323089 ms (missed cycles : 3).[0m +184.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880835 ms (missed cycles : 3).[0m +185.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302779 ms (missed cycles : 3).[0m +186.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629837 ms (missed cycles : 3).[0m +187.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960236 ms (missed cycles : 2).[0m +188.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688745 ms (missed cycles : 2).[0m +189.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479138 ms (missed cycles : 2).[0m +190.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295434 ms (missed cycles : 3).[0m +191.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440051 ms (missed cycles : 2).[0m +192.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467664 ms (missed cycles : 3).[0m +193.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148550 ms (missed cycles : 4).[0m +194.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660604 ms (missed cycles : 3).[0m +195.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656653 ms (missed cycles : 2).[0m +196.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685071 ms (missed cycles : 3).[0m +197.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109303 ms (missed cycles : 3).[0m +198.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.756599 ms (missed cycles : 4).[0m +199.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594869 ms (missed cycles : 3).[0m +200.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344862 ms (missed cycles : 4).[0m +201.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746129 ms (missed cycles : 3).[0m +202.39sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. +202.40sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. +202.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784312972.50373602 seconds +202.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694378 ms (missed cycles : 5).[0m +203.08sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784312973.18317723 seconds. +203.43sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). +204.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786841 ms (missed cycles : 2).[0m +205.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644502 ms (missed cycles : 3).[0m +206.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196037 ms (missed cycles : 4).[0m +206.30sINFOros2_control_nodeMuJoCo sim: 0.61% of iterations over time budget. Below 1% expected for non-realtime.[0m +207.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960200 ms (missed cycles : 5).[0m +208.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.434452 ms (missed cycles : 4).[0m +209.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906462 ms (missed cycles : 3).[0m +210.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411977 ms (missed cycles : 2).[0m +211.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590420 ms (missed cycles : 3).[0m +212.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920148 ms (missed cycles : 2).[0m +213.11sINFOros2_control_nodeGot request to cancel goal[0m +213.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +213.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784312983.24206209 seconds +213.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767913 ms (missed cycles : 2).[0m +213.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784312983.79461956 seconds. +214.04sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). +214.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248426 ms (missed cycles : 3).[0m +215.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782596 ms (missed cycles : 4).[0m +216.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887393 ms (missed cycles : 2).[0m +217.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270364 ms (missed cycles : 2).[0m +218.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304312 ms (missed cycles : 2).[0m +219.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299171 ms (missed cycles : 2).[0m +220.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574431 ms (missed cycles : 2).[0m +221.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060218 ms (missed cycles : 3).[0m +222.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835601 ms (missed cycles : 4).[0m +223.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.262984 ms (missed cycles : 4).[0m +224.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968509 ms (missed cycles : 3).[0m +225.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829362 ms (missed cycles : 3).[0m +226.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022040 ms (missed cycles : 3).[0m +227.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773016 ms (missed cycles : 2).[0m +229.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.761655 ms (missed cycles : 5).[0m +230.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481794 ms (missed cycles : 2).[0m +231.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746297 ms (missed cycles : 2).[0m +232.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369857 ms (missed cycles : 3).[0m +233.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195325 ms (missed cycles : 2).[0m +234.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683578 ms (missed cycles : 2).[0m +235.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.460442 ms (missed cycles : 6).[0m +236.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911960 ms (missed cycles : 2).[0m +237.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035345 ms (missed cycles : 2).[0m +238.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964811 ms (missed cycles : 2).[0m +239.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609228 ms (missed cycles : 4).[0m +240.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124557 ms (missed cycles : 2).[0m +241.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446245 ms (missed cycles : 3).[0m +242.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548291 ms (missed cycles : 2).[0m +242.87sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. +242.88sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. +242.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313012.98482347 seconds +243.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212725 ms (missed cycles : 2).[0m +243.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313013.59196758 seconds. +243.83sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 +244.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995660 ms (missed cycles : 3).[0m +245.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335799 ms (missed cycles : 3).[0m +246.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253849 ms (missed cycles : 3).[0m +247.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833140 ms (missed cycles : 4).[0m +248.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728755 ms (missed cycles : 2).[0m +249.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062808 ms (missed cycles : 2).[0m +250.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168532 ms (missed cycles : 3).[0m +251.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883536 ms (missed cycles : 3).[0m +252.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315848 ms (missed cycles : 2).[0m +253.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182475 ms (missed cycles : 3).[0m +254.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997370 ms (missed cycles : 4).[0m +255.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198843 ms (missed cycles : 3).[0m +257.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359038 ms (missed cycles : 3).[0m +258.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730399 ms (missed cycles : 2).[0m +259.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413286 ms (missed cycles : 2).[0m +260.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604147 ms (missed cycles : 3).[0m +261.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782226 ms (missed cycles : 2).[0m +262.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007524 ms (missed cycles : 2).[0m +263.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886058 ms (missed cycles : 2).[0m +264.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941127 ms (missed cycles : 2).[0m +265.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637731 ms (missed cycles : 3).[0m +266.31sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m +266.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226530 ms (missed cycles : 3).[0m +267.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670543 ms (missed cycles : 6).[0m +268.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234490 ms (missed cycles : 3).[0m +269.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891018 ms (missed cycles : 2).[0m +270.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930470 ms (missed cycles : 2).[0m +271.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838896 ms (missed cycles : 2).[0m +272.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783090 ms (missed cycles : 3).[0m +273.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193092 ms (missed cycles : 5).[0m +274.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880072 ms (missed cycles : 2).[0m +275.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818698 ms (missed cycles : 2).[0m +276.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775689 ms (missed cycles : 3).[0m +277.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771378 ms (missed cycles : 2).[0m +278.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363397 ms (missed cycles : 3).[0m +279.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253420 ms (missed cycles : 2).[0m +280.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334676 ms (missed cycles : 4).[0m +281.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429953 ms (missed cycles : 3).[0m +283.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.721061 ms (missed cycles : 6).[0m +284.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448519 ms (missed cycles : 2).[0m +285.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.596806 ms (missed cycles : 6).[0m +286.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796106 ms (missed cycles : 2).[0m +287.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103772 ms (missed cycles : 2).[0m +288.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160485 ms (missed cycles : 3).[0m +289.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.966071 ms (missed cycles : 6).[0m +290.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069525 ms (missed cycles : 2).[0m +291.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825017 ms (missed cycles : 2).[0m +292.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817735 ms (missed cycles : 2).[0m +293.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649535 ms (missed cycles : 2).[0m +294.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.959942 ms (missed cycles : 7).[0m +295.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156630 ms (missed cycles : 4).[0m +296.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457315 ms (missed cycles : 3).[0m +297.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232918 ms (missed cycles : 3).[0m +298.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784313068.18216348 seconds +298.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541236 ms (missed cycles : 3).[0m +298.64sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784313068.74834561 seconds. +298.99sINFOobjective_server_nodeFound path in 0 iterations (1.03e-06 s). +299.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728721 ms (missed cycles : 2).[0m +300.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420999 ms (missed cycles : 7).[0m +301.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592049 ms (missed cycles : 3).[0m +302.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804708 ms (missed cycles : 2).[0m +303.19sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). +303.22sINFOobjective_server_nodePath shortcutter: [X__________________X] +303.25sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). +303.28sINFOobjective_server_nodePath shortcutter: [X____________________X] +303.36sINFOobjective_server_nodePath shortcutter: [X_________________________X] +303.40sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). +303.52sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +303.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739416 ms (missed cycles : 3).[0m +303.79sINFOobjective_server_nodeFound path in 98 iterations (0.0519554 s). +304.08sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X____X] +304.13sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). +304.51sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +304.56sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). +304.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569390 ms (missed cycles : 2).[0m +304.87sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +305.11sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +305.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934335 ms (missed cycles : 2).[0m +306.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834243 ms (missed cycles : 2).[0m +307.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269645 ms (missed cycles : 4).[0m +308.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660552 ms (missed cycles : 4).[0m +309.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.715802 ms (missed cycles : 5).[0m +310.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450176 ms (missed cycles : 3).[0m +311.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784313081.22425365 seconds +311.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784313081.81150508 seconds. +311.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.880773 ms (missed cycles : 6).[0m +312.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784313082.31174326 seconds +312.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784313082.86872983 seconds. +312.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118076 ms (missed cycles : 5).[0m +313.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784313083.38887572 seconds +313.51sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +314.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442444 ms (missed cycles : 6).[0m +314.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590364 ms (missed cycles : 3).[0m +316.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327547 ms (missed cycles : 2).[0m +317.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462978 ms (missed cycles : 5).[0m +318.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500898 ms (missed cycles : 3).[0m +319.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893349 ms (missed cycles : 3).[0m +319.25sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.25sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.26sERRORweb_video_server-33process[web_video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.26sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.27sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.27sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] +319.29sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.29sERRORweb_video_auth_proxy-35process has died [pid 9442, 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']. +319.30sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.30sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.31sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] +319.33sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.33sERRORweb_bridge_auth_proxy-34process has died [pid 9441, 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']. +319.33sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.34sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.34sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.35sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.35sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.36sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.36sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.36sERRORfixed_lag_smoother_node-8process[fixed_lag_smoother_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.37sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.37sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.38sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.38sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.38sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.39sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.39sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.39sINFOweb_video_server-33sending signal 'SIGTERM' to process[web_video_server-33] +319.42sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] +319.44sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] +319.46sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] +319.48sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] +319.51sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] +319.53sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] +319.55sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system +319.56sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] +319.58sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] +319.61sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] +319.63sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] +319.66sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] +319.68sINFOweb_video_server-33process has finished cleanly [pid 9440] +319.69sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] +319.70sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9437] +319.72sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] +319.75sINFOfixed_lag_smoother_node-8sending signal 'SIGTERM' to process[fixed_lag_smoother_node-8] +319.75sERRORmove_group-21process has died [pid 9390, 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_efemrmrh --params-file /tmp/launch_params_rj3q7vj0 --params-file /tmp/launch_params_w60uuv9a --params-file /tmp/launch_params_53nup6xq --params-file /tmp/launch_params_qsm39dpj --params-file /tmp/launch_params_ib_zrb4b']. +319.77sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +319.77sERRORui_teleop_bridge-30process has died [pid 9428, 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_gbs9a0tn']. +319.79sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +319.81sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +319.84sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] +319.84sINFOexecute_objective_bridge-29process has finished cleanly [pid 9427] +319.86sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] +319.88sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +319.90sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +319.91sERRORobjective_server_node_main-26process has died [pid 9404, 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_zxxqnpf2 --params-file /tmp/launch_params_ojhmw14r --params-file /tmp/launch_params_2eru0sbw --params-file /tmp/launch_params_r9k0zyyp --params-file /tmp/launch_params_cpw6nfzm --params-file /tmp/launch_params_1uhqb7z2 --params-file /tmp/launch_params_q_j6pbzj --params-file /tmp/launch_params_ku61_wt7 --params-file /tmp/launch_params_mhqbzdpj']. +319.91sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +319.91sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +319.91sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +319.91sERRORui_teleop_bridgeTraceback (most recent call last): +319.91sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +319.91sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +319.91sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +319.91sINFOui_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 +319.91sINFOui_teleop_bridgerclpy.shutdown() +319.91sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +319.91sINFOui_teleop_bridge_shutdown(context=context) +319.91sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +319.91sINFOui_teleop_bridgecontext.shutdown() +319.91sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +319.91sINFOui_teleop_bridgeself.__context.shutdown() +319.91sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +319.91sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +319.91sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +319.92sINFOobjective_server_node[0;m[0m[INFO] [2026-07-17 18:31:29.665] signal_handler(SIGINT/SIGTERM)[0m +319.92sINFOcomponent_container_mtStopping planning scene monitor[0m +319.92sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +319.92sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +319.92sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +319.92sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +319.92sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system +319.92sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +319.92sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +319.92sERRORmove_groupwhat(): context cannot be slept with because it's invalid +319.92sERRORmove_groupStack trace (most recent call last) in thread 9976: +319.92sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +319.92sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1b9988ca63, in __clone +319.92sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1b997ffaa3, in +319.92sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1b99a91db3, in +319.92sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f1b9a0e61c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +319.92sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1b99e044d0, in rclcpp::Rate::sleep() +319.92sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1b99d57a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +319.92sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1b99d1ca71, in +319.92sINFOobjective_server_node[2026-07-17 18:31:29.809] [moveit_pro_license] [info] +319.92sINFOobjective_server_node* Application has successfully terminated +319.92sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1b99a60390, in __cxa_throw +319.93sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1b99a4aa54, in std::terminate() +319.93sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1b99a600d9, in +319.93sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1b99a4aff4, in +319.93sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1b9978b8fe, in abort +319.93sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1b997a827d, in raise +319.93sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1b99801b2c, in pthread_kill +319.93sERRORmove_groupAborted (Signal sent by tkill() 9390 0) +319.93sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +319.93sINFOros2_control_nodeShutdown request received....[0m +319.93sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +319.93sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +319.93sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +319.93sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +319.93sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +319.93sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +319.93sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +319.93sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +319.93sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +319.93sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +319.93sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +319.93sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +319.93sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +319.93sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +319.93sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +319.93sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +319.93sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +319.93sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +319.93sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +319.93sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +319.93sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +319.93sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +319.93sINFOros2_control_nodeShutting down the controller manager.[0m +319.93sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +319.93sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 +319.93sERRORobjective_server_nodeStack trace (most recent call last): +319.93sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +319.93sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563d0070d6a4, in _start +319.93sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f773ec9128a, in __libc_start_main +319.93sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f773ec911d0, in +319.93sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f773ecaebbd, in exit +319.93sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f773ecaea75, in +319.93sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f773f17d8f5, in spdlog::details::registry::~registry() +319.93sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563d0070dd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +319.93sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563d00714315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +319.93sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563d007135a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +319.93sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563d0070fb7b, in spdlog_ros::RosSink::~RosSink() +319.94sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563d0070dd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +319.94sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f773f833454, in rclcpp::Node::~Node() +319.94sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f773f7ee515, in +319.94sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f773f831d20, in +319.94sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f773f831c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +319.94sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f773f7ee5d9, in +319.94sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f773f7f3161, in rclcpp::CallbackGroup::~CallbackGroup() +319.94sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f76ef382160]) +319.94sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +319.94sERRORodom_qos_relay.pyTraceback (most recent call last): +319.94sINFOodom_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> +319.94sINFOodom_qos_relay.pymain() +319.94sINFOodom_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 +319.94sINFOodom_qos_relay.pyrclpy.spin(node) +319.94sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +319.94sINFOodom_qos_relay.pyexecutor.spin_once() +319.94sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +319.94sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +319.94sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +319.94sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +319.94sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +319.94sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +319.94sINFOodom_qos_relay.pyreturn next(self._cb_iter) +319.94sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +319.94sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +319.94sINFOodom_qos_relay.pyraise ExternalShutdownException() +319.94sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +319.94sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m +319.94sERRORodom_world_drift.pyTraceback (most recent call last): +319.94sINFOodom_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> +319.94sINFOodom_world_drift.pymain() +319.94sINFOodom_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 +319.94sINFOodom_world_drift.pyrclpy.spin(node) +319.94sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +319.94sINFOodom_world_drift.pyexecutor.spin_once() +319.94sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +319.94sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) +319.94sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +319.94sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( +319.94sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +319.94sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +319.94sINFOodom_world_drift.pyreturn next(self._cb_iter) +319.94sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ +319.94sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +319.94sINFOodom_world_drift.pyraise ExternalShutdownException() +319.94sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException +319.94sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m +319.95sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system +319.95sINFOros2_control_nodeAsync messages lost 0[0m ×2 +319.95sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 +320.08sERRORcomponent_container_isolated-1process has died [pid 9292, 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_se3ge0jn --params-file /tmp/launch_params_wdb3hnt9 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +320.63sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9401] +320.63sINFOcomponent_container_mt-28process has finished cleanly [pid 9426] +320.67sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9400] +320.73sINFOparameter_manager_node-22process has finished cleanly [pid 9391] +320.74sINFOwaypoint_manager_node-23process has finished cleanly [pid 9392] +320.79sINFOcomponent_container_mt-27process has finished cleanly [pid 9423] +320.81sINFOfixed_lag_smoother_node-8process has finished cleanly [pid 9299] +320.82sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9298] +320.83sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9297] +320.88sINFOslip_aware_odom-4process has finished cleanly [pid 9295] +320.92sERRORodom_qos_relay.py-5process has died [pid 9296, 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']. +320.92sINFOstatic_transform_publisher-2process has finished cleanly [pid 9293] +321.95sERRORodom_world_drift.py-3process has died [pid 9294, 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']. +322.37sINFOweb_bridge-31process has finished cleanly [pid 9435] +322.37sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system +322.55sINFOros2_control_node-9process has finished cleanly [pid 9300] +330.42sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-17-18-31-37-348027-2fbee1c033b9-13311 ×2 +343.08sINFOstatic_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' +343.15sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +343.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +343.16sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +343.18sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +343.19sINFOstate_estimatorReceived a set_pose request (stamp: 1784313113300990981, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +343.19sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +343.22sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +343.23sINFOcontroller_managerupdate rate is 600 Hz +343.23sINFOcontroller_managerOverruns handling is : enabled +343.23sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +343.24sWARNcontroller_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. +343.30sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. +343.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +343.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +343.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +343.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930269 ms (missed cycles : 3). +343.40sINFOcontroller_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. +343.45sINFOros2_control_node-9process started with pid [13369] ×2 +343.45sINFOmove_group-21process started with pid [13462] ×2 +343.45sINFOparameter_manager_node-22process started with pid [13463] ×2 +343.45sINFOwaypoint_manager_node-23process started with pid [13464] ×2 +343.45sINFOmove_joint_resampler_node-24process started with pid [13520] ×2 +343.45sINFOmove_end_effector_resampler_node-25process started with pid [13522] ×2 +343.45sINFOobjective_server_node_main-26process started with pid [13523] ×2 +343.45sINFOcomponent_container_mt-27process started with pid [13524] ×2 +343.45sINFOcomponent_container_mt-28process started with pid [13525] ×2 +343.45sINFOexecute_objective_bridge-29process started with pid [13526] ×2 +343.45sINFOui_teleop_bridge-30process started with pid [13527] ×2 +343.45sINFOweb_bridge-31process started with pid [13543] ×2 +343.45sINFOtf2_web_republisher_node-32process started with pid [13544] ×2 +343.45sINFOweb_video_server-33process started with pid [13545] ×2 +343.45sINFOweb_bridge_auth_proxy-34process started with pid [13546] ×2 +343.45sINFOweb_video_auth_proxy-35process started with pid [13549] ×2 +343.46sINFOcontroller_serverCreating controller server +343.47sINFOcomponent_container_isolated-1process started with pid [13361] ×2 +343.47sINFOstatic_transform_publisher-2process started with pid [13362] ×2 +343.47sINFOodom_world_drift.py-3process started with pid [13363] ×2 +343.47sINFOslip_aware_odom-4process started with pid [13364] ×2 +343.47sINFOodom_qos_relay.py-5process started with pid [13365] ×2 +343.47sINFOscan_to_scan_filter_chain-6process started with pid [13366] ×2 +343.47sINFOscan_to_scan_filter_chain-7process started with pid [13367] ×2 +343.47sINFOfixed_lag_smoother_node-8process started with pid [13368] ×2 +343.47sINFOros2-10process started with pid [13447] ×2 +343.47sINFOros2-11process started with pid [13448] ×2 +343.47sINFOros2-12process started with pid [13449] ×2 +343.47sINFOros2-13process started with pid [13450] ×2 +343.47sINFOros2-14process started with pid [13451] ×2 +343.47sINFOros2-15process started with pid [13453] ×2 +343.47sINFOros2-16process started with pid [13454] ×2 +343.47sINFOros2-17process started with pid [13455] ×2 +343.47sINFOros2-18process started with pid [13458] ×2 +343.47sINFOros2-19process started with pid [13459] ×2 +343.47sINFOros2-20process started with pid [13460] ×2 +343.51sINFOlocal_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. +343.52sINFOlocal_costmap.local_costmapCreating Costmap +343.54sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +343.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930269 ms (missed cycles : 3).[0m ×2 +343.59sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +343.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +343.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +343.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +343.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +343.61sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +343.61sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +343.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +343.61sINFOmap_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. +343.61sINFOmap_serverCreating +343.61sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +343.62sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +343.63sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +343.63sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +343.68sINFOsmoother_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. +343.68sINFOrobot_state_publisherRobot initialized +343.69sINFOcontroller_managerReceived robot description from topic. +343.69sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +343.71sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +343.72sINFOsmoother_serverCreating smoother server +343.73sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +343.73sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +343.73sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +343.77sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +343.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +343.77sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +343.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +343.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +343.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +343.82sINFOplanner_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. +343.85sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +343.85sINFOplanner_serverCreating +343.89sINFOglobal_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. +343.90sINFOglobal_costmap.global_costmapCreating Costmap +343.91sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +343.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +343.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +343.93sINFOlifecycle_manager_localizationCreating +343.94sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +343.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +343.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +343.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +343.96sINFObehavior_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. +343.97sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +343.97sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +343.97sINFOmap_serverConfiguring +344.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +344.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +344.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +344.09sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +344.09sINFOamclConfiguring +344.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +344.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +344.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +344.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +344.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +344.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +344.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +344.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +344.09sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 +344.09sWARNlaser_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. +344.09sWARNlaser_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. +344.10sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +344.10sINFOmap_serverActivating +344.10sINFObt_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. +344.11sINFOmap_serverCreating bond (map_server) to lifecycle manager. +344.13sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.490246 seconds +344.13sINFOmove_groupLoaded robot model in 0.490246 seconds[0m ×2 +344.13sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +344.13sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +344.14sINFObt_navigatorCreating +344.15sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +344.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +344.16sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +344.19sINFOwaypoint_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. +344.19sINFOwaypoint_followerCreating +344.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +344.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +344.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +344.22sINFOlifecycle_manager_localizationServer map_server connected with bond. +344.22sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +344.22sINFOamclActivating +344.22sINFOamclSubscribed to initial_pose_topic: /initialpose +344.22sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +344.25sINFOamclSubscribed to map_topic: /map +344.25sINFOamclSubscribed to scan_topic: /scan_merged +344.26sINFOamclCreated reinitialize_global_localization service +344.26sINFOamclCreated request_nomotion_update service +344.26sINFOamclA new map was received +344.27sINFOamclInitializing particle filter instance +344.28sINFOvelocity_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. +344.32sINFOlifecycle_manager_navigationCreating +344.34sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +344.36sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +344.36sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +344.36sINFOcontroller_serverConfiguring controller interface +344.36sINFOcontroller_servergetting progress checker plugins.. +344.36sINFOcontroller_servergetting goal checker plugins.. +344.36sINFOcontroller_serverController frequency set to 20.0000Hz +344.36sINFOlocal_costmap.local_costmapConfiguring +344.39sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +344.41sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +344.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834213 ms (missed cycles : 4). +344.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834213 ms (missed cycles : 4).[0m ×2 +344.46sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +344.46sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +344.47sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +344.50sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +344.50sINFOcontroller_serverController Server has progress_checker progress checkers available. +344.51sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +344.51sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +344.53sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +344.56sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +344.57sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +344.57sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +344.59sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +344.59sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +344.59sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +344.59sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +344.60sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +344.60sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +344.60sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +344.60sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +344.60sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +344.60sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +344.60sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +344.60sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +344.60sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +344.61sINFOcontroller_serverOptimizer reset +344.62sINFOcontroller_serverController Server has FollowPath controllers available. +344.64sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +344.64sINFOsmoother_serverConfiguring smoother server +344.66sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +344.67sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +344.69sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +344.69sINFOplanner_serverConfiguring +344.69sINFOglobal_costmap.global_costmapConfiguring +344.70sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +344.71sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +344.71sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +344.71sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +344.72sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +344.75sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +344.75sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +344.76sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +344.79sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +344.79sFATALplanner_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 +344.79sINFOplanner_serverCleaning up +344.79sINFOglobal_costmap.global_costmapCleaning up +344.86sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +344.86sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +344.87sINFOamclParticle filter initialization completed +344.87sINFOamclInitializing particles from estimated pose and covariance +344.87sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 +344.88sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +344.88sWARNmove_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. +344.88sWARNmove_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. +344.89sWARNmove_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. +344.89sWARNmove_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. +344.89sWARNmove_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. +344.89sWARNmove_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. +344.89sWARNmove_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. +344.89sWARNmove_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. +344.90sWARNmove_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. +344.90sWARNmove_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. +344.93sINFOlifecycle_manager_localizationServer amcl connected with bond. +344.93sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +344.93sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +344.97sINFOamclThe bond connection to the lifecycle manager is now fully formed +345.00sINFOwaypoint_manager_nodeLoaded robot model in 0.432104 seconds[0m ×2 +345.32sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +345.49sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +345.49sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +345.50sWARNwaypoint_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. +345.50sWARNwaypoint_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. +345.51sWARNwaypoint_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. +345.51sWARNwaypoint_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. +345.51sWARNwaypoint_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. +345.51sWARNwaypoint_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. +345.51sWARNwaypoint_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. +345.51sWARNwaypoint_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. +345.52sWARNwaypoint_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. +345.52sWARNwaypoint_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. +345.52sWARNwaypoint_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. +345.52sWARNwaypoint_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. +345.52sWARNwaypoint_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. +345.53sWARNwaypoint_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. +345.53sWARNwaypoint_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. +345.53sWARNwaypoint_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. +345.53sWARNwaypoint_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. +345.53sWARNwaypoint_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. +345.53sWARNwaypoint_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. +345.53sWARNwaypoint_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. +345.54sWARNwaypoint_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. +345.54sWARNwaypoint_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. +345.54sWARNwaypoint_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. +345.54sWARNwaypoint_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. +345.54sWARNwaypoint_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. +345.54sWARNwaypoint_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. +345.54sWARNwaypoint_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. +345.54sWARNwaypoint_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. +345.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145379 ms (missed cycles : 2). +345.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145379 ms (missed cycles : 2).[0m ×2 +345.71sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +345.71sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +345.72sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +345.72sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +345.72sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +345.73sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +345.73sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +345.74sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +345.74sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +345.74sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +345.75sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +346.32sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +346.32sINFOcontroller_managerActivating component 'ur_mujoco_control'. +346.32sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +346.32sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +346.37sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +346.37sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +346.57sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +346.58sINFOcontroller_managerLoading controller 'velocity_force_controller' +346.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +346.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +346.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +346.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +346.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +346.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +346.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +346.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +346.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +346.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +346.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +346.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +346.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +346.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +346.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +346.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +346.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +346.72sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +346.75sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +346.78sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g +346.78sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g [0m ×2 +346.81sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +346.81sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +346.87sINFOobjective_server_node[2026-07-17 18:31:56.979] [moveit_pro_license] [info] ×2 +346.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +346.95sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +346.95sINFOobjective_server_nodeLoaded robot model in 0.0281443 seconds[0m ×2 +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +347.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +347.08sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +347.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666835 ms (missed cycles : 2). +347.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666835 ms (missed cycles : 2).[0m ×2 +347.12sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +347.13sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +347.13sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +347.13sINFOstreaming_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) +347.14sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +347.23sINFOros2_control_node[2026-07-17 18:31:57.335] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +347.24sINFOros2_control_node[2026-07-17 18:31:57.342] [info] Controller state will be published at 10 Hz. ×2 +347.24sINFOros2_control_node[2026-07-17 18:31:57.343] [info] VelocityForceController 'on_configure' succeeded. ×2 +347.36sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +347.36sWARNobjective_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. +347.37sWARNobjective_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. +347.37sWARNobjective_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. +347.37sWARNobjective_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. +347.37sINFOcomponent_container_mtLoaded robot model in 0.399238 seconds[0m ×2 +347.37sWARNobjective_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. +347.37sWARNobjective_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. +347.37sWARNobjective_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. +347.37sWARNobjective_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. +347.37sWARNobjective_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. +347.37sWARNobjective_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. +347.38sINFOmove_groupMoveGroup debug mode is ON +347.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +347.40sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +347.43sINFOstreaming_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) +347.58sINFOmove_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
********************************************************
+347.58sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784313116.566 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +347.65sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +347.65sINFOros2-17process has finished cleanly [pid 13455] ×2 +347.67sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +347.67sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +347.67sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g +347.67sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g [0m ×2 +347.70sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +347.70sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +347.75sWARNplanning_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. +347.75sWARNplanning_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. +347.75sWARNplanning_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. +347.75sWARNplanning_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. +347.75sWARNplanning_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. +347.75sWARNplanning_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. +347.76sWARNplanning_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. +347.76sWARNplanning_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. +347.76sWARNplanning_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. +347.76sWARNplanning_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. +347.76sWARNplanning_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. +347.76sWARNplanning_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. +347.76sWARNplanning_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. +347.76sWARNplanning_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. +347.76sWARNplanning_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. +347.76sWARNplanning_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. +347.76sWARNplanning_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. +347.76sWARNplanning_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. +347.77sWARNplanning_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. +347.77sWARNplanning_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. +347.77sWARNplanning_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. +347.77sWARNplanning_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. +347.77sWARNplanning_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. +347.77sWARNplanning_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. +347.77sWARNplanning_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. +347.77sWARNplanning_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. +347.77sWARNplanning_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. +347.77sWARNplanning_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. +347.88sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +348.07sINFOros2_control_node[2026-07-17 18:31:58.180] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +348.08sINFOros2_control_node[2026-07-17 18:31:58.184] [info] Controller state will be published at 10 Hz. ×2 +348.08sINFOros2_control_node[2026-07-17 18:31:58.186] [info] VelocityForceController 'on_configure' succeeded. ×2 +348.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.162915 ms (missed cycles : 6). +348.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.162915 ms (missed cycles : 6).[0m ×2 +348.42sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +348.42sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +348.44sINFOros2-18process has finished cleanly [pid 13458] ×2 +348.51sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g +348.51sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g [0m ×2 +348.57sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +348.58sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +348.93sINFOros2_control_node[2026-07-17 18:31:59.034] [info] Controller state will be published at 20 Hz. ×2 +348.93sINFOros2_control_node[2026-07-17 18:31:59.036] [info] JointVelocityController 'on_configure' succeeded. ×2 +349.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716208 ms (missed cycles : 2). +349.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716208 ms (missed cycles : 2).[0m ×2 +349.28sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +349.28sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +349.29sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g +349.29sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g [0m ×2 +349.29sINFOros2-20process has finished cleanly [pid 13460] ×2 +349.35sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +349.35sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +349.36sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +349.36sINFOcontroller_managerSuccessfully switched controllers! ×8 +349.37sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +349.71sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +349.71sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +349.72sINFOros2-11process has finished cleanly [pid 13448] ×2 +349.72sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g +349.72sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g [0m ×2 +349.79sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +349.80sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +349.80sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +349.80sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +349.80sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +349.82sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +349.82sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +349.97sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.858ms +350.08sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784313119.066 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +350.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +350.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +350.14sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g +350.14sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g [0m ×2 +350.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736967 ms (missed cycles : 2). +350.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736967 ms (missed cycles : 2).[0m ×2 +350.16sINFOros2-12process has finished cleanly [pid 13449] ×2 +350.21sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +350.21sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +350.22sINFOforce_torque_sensor_broadcasterconfigure successful +350.22sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +350.22sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +350.56sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +350.56sINFOcontroller_managerLoading controller 'joint_velocity_controller' +350.56sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g +350.56sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g [0m ×2 +350.57sINFOros2-10process has finished cleanly [pid 13447] ×2 +350.63sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +350.63sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +350.96sINFOros2_control_node[2026-07-17 18:32:01.070] [info] Controller state will be published at 20 Hz. ×2 +350.97sINFOros2_control_node[2026-07-17 18:32:01.071] [info] JointVelocityController 'on_configure' succeeded. ×2 +351.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988630 ms (missed cycles : 4). +351.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988630 ms (missed cycles : 4).[0m ×2 +351.32sINFOros2-19process has finished cleanly [pid 13459] ×2 +351.36sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +351.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +351.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +351.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g +351.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g [0m ×2 +351.71sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +351.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +351.72sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +351.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +351.72sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +351.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +351.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +352.10sINFOros2-16process has finished cleanly [pid 13454] ×2 +352.11sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +352.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589373 ms (missed cycles : 4). +352.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589373 ms (missed cycles : 4).[0m ×2 +352.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +352.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' +352.37sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g +352.37sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g [0m ×2 +352.40sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +352.40sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +352.41sINFOplatform_velocity_controllerconfigure successful +352.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +352.42sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +352.74sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +352.74sINFOcontroller_managerLoading controller 'vacuum_gripper' +352.74sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g +352.74sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g [0m ×2 +352.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +352.78sINFOros2-13process has finished cleanly [pid 13450] ×2 +352.81sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +352.81sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +352.81sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +352.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +352.83sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +353.18sINFOros2-14process has finished cleanly [pid 13451] ×2 +353.19sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +353.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116742 ms (missed cycles : 2). +353.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116742 ms (missed cycles : 2).[0m ×2 +353.44sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +353.44sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +353.44sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g +353.45sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_r_0r8msg --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_ijcs2cnw --params-file /tmp/launch_params_emcrax5g [0m ×2 +353.47sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +353.48sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +353.48sINFOplatform_velocity_controller_nav2configure successful +353.79sINFOros2-15process has finished cleanly [pid 13453] ×2 +354.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678406 ms (missed cycles : 3). +354.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678406 ms (missed cycles : 3).[0m ×2 +355.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618993 ms (missed cycles : 3). +355.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618993 ms (missed cycles : 3).[0m ×2 +356.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2). +356.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2).[0m ×2 +356.37sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +357.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). +357.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 +358.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). +358.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 +358.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 +358.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +358.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +358.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 +359.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 +359.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). +359.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 +359.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 +360.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 +360.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 +360.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). +360.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 +360.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 +360.77sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +360.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +360.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +360.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +360.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +360.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +360.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 +361.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 +361.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +361.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +361.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618993 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618993 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.90% 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 3.652281 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 5.47sINFOobjective_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 + 5.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 7.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[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 3.618993 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618993 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.90% 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 3.652281 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 5.47sINFOobjective_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 + 5.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 | ||||
| − 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 3.618993 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618993 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.90% 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 3.652281 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 5.47sINFOobjective_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 + 5.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618993 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618993 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.90% 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 3.652281 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 5.47sINFOobjective_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 + 5.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[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 3.618993 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618993 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.90% 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 3.652281 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 5.47sINFOobjective_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 + 5.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 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 3.618993 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618993 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.90% 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 3.652281 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 5.47sINFOobjective_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 + 5.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668947 ms (missed cycles : 2).[0m ×2 + 0.05sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.56sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061009 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061009 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652281 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648584 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313128.98833203 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313128.99852562 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313129.55555940 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895082 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313129.57571411 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313130.12947464 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313130.28009129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963808 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313130.86117268 seconds. ×3 + 3.37sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313130.93132257 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313131.48715520 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665833 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420287 ms (missed cycles : 4).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||