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 | 33.1s | 6 errors · 117 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360405 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360405 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433943 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433943 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628079 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628079 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226451 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226451 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.21sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784313572.00747013 seconds ×3 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.83sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784313572.57569957 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.727557 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.727557 ms (missed cycles : 8).[0m ×2 + 4.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619796 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619796 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.42sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.42sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054619 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054619 ms (missed cycles : 2).[0m ×2 + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088905 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088905 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124078 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124078 ms (missed cycles : 2).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883073 ms (missed cycles : 4). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883073 ms (missed cycles : 4).[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041895 ms (missed cycles : 2). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041895 ms (missed cycles : 2).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101552 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101552 ms (missed cycles : 2).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703207 ms (missed cycles : 3). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703207 ms (missed cycles : 3).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312960 ms (missed cycles : 2). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312960 ms (missed cycles : 2).[0m ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988814 ms (missed cycles : 2). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988814 ms (missed cycles : 2).[0m ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873809 ms (missed cycles : 3). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873809 ms (missed cycles : 3).[0m ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868312 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868312 ms (missed cycles : 2).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880370 ms (missed cycles : 2). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880370 ms (missed cycles : 2).[0m ×2 + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357665 ms (missed cycles : 4). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357665 ms (missed cycles : 4).[0m ×2 + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686367 ms (missed cycles : 6). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686367 ms (missed cycles : 6).[0m ×2 + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887058 ms (missed cycles : 3). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887058 ms (missed cycles : 3).[0m ×2 + 21.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956672 ms (missed cycles : 3). + 21.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956672 ms (missed cycles : 3).[0m ×2 + 22.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.487625 ms (missed cycles : 7). + 22.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.487625 ms (missed cycles : 7).[0m ×2 + 23.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.404429 ms (missed cycles : 6). + 23.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.404429 ms (missed cycles : 6).[0m ×2 + 25.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873106 ms (missed cycles : 4). + 25.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873106 ms (missed cycles : 4).[0m ×2 + 25.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 26.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402869 ms (missed cycles : 4). + 26.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402869 ms (missed cycles : 4).[0m ×2 + 27.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669065 ms (missed cycles : 2). + 27.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669065 ms (missed cycles : 2).[0m ×2 + 28.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534653 ms (missed cycles : 3). + 28.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534653 ms (missed cycles : 3).[0m ×2 + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172736 ms (missed cycles : 2). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172736 ms (missed cycles : 2).[0m ×2 + 30.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766856 ms (missed cycles : 3). + 30.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766856 ms (missed cycles : 3).[0m ×2 + 31.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624943 ms (missed cycles : 2). + 31.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624943 ms (missed cycles : 2).[0m ×2 + 32.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643797 ms (missed cycles : 2). + 32.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643797 ms (missed cycles : 2).[0m ×2 + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523033 ms (missed cycles : 3). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523033 ms (missed cycles : 3).[0m ×2 + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538469 ms (missed cycles : 4). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538469 ms (missed cycles : 4).[0m ×2 + 35.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047164 ms (missed cycles : 2). + 35.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047164 ms (missed cycles : 2).[0m ×2 + 36.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729791 ms (missed cycles : 3). + 36.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729791 ms (missed cycles : 3).[0m ×2 + 36.34sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 36.35sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 36.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784313605.09592938 seconds ×3 + 37.03sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784313605.77402234 seconds. ×3 + 37.36sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 37.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783550 ms (missed cycles : 3). + 37.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783550 ms (missed cycles : 3).[0m ×2 + 38.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 38.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813558 ms (missed cycles : 3). + 38.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813558 ms (missed cycles : 3).[0m ×2 + 38.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 38.94sINFOros2_control_nodeMuJoCo sim: 0.71% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392774 ms (missed cycles : 2). + 39.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392774 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 29.8s | 9 errors · 108 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754606 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754606 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045101 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045101 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318135 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318135 ms (missed cycles : 4).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503105 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503105 ms (missed cycles : 2).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGot request to cancel goal + 3.72sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.72sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.72sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784313615.99445915 seconds ×3 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339033 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339033 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784313616.55065727 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999025 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999025 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_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 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576838 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576838 ms (missed cycles : 3).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032159 ms (missed cycles : 4). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032159 ms (missed cycles : 4).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129639 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129639 ms (missed cycles : 2).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069668 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069668 ms (missed cycles : 2).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.370925 ms (missed cycles : 4). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.370925 ms (missed cycles : 4).[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928499 ms (missed cycles : 2). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928499 ms (missed cycles : 2).[0m ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419120 ms (missed cycles : 4). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419120 ms (missed cycles : 4).[0m ×2 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376689 ms (missed cycles : 4). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376689 ms (missed cycles : 4).[0m ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231132 ms (missed cycles : 4). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231132 ms (missed cycles : 4).[0m ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853445 ms (missed cycles : 2). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853445 ms (missed cycles : 2).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811091 ms (missed cycles : 5). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811091 ms (missed cycles : 5).[0m ×2 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028252 ms (missed cycles : 2). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028252 ms (missed cycles : 2).[0m ×2 + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801239 ms (missed cycles : 3). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801239 ms (missed cycles : 3).[0m ×2 + 19.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882941 ms (missed cycles : 3). + 19.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882941 ms (missed cycles : 3).[0m ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.653310 ms (missed cycles : 6). + 20.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.653310 ms (missed cycles : 6).[0m ×2 + 21.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872170 ms (missed cycles : 3). + 21.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872170 ms (missed cycles : 3).[0m ×2 + 22.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862197 ms (missed cycles : 3). + 22.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862197 ms (missed cycles : 3).[0m ×2 + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026296 ms (missed cycles : 2). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026296 ms (missed cycles : 2).[0m ×2 + 24.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.339818 ms (missed cycles : 4). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.339818 ms (missed cycles : 4).[0m ×2 + 25.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855985 ms (missed cycles : 5). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855985 ms (missed cycles : 5).[0m ×2 + 27.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955836 ms (missed cycles : 3). + 27.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955836 ms (missed cycles : 3).[0m ×2 + 28.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289997 ms (missed cycles : 3). + 28.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289997 ms (missed cycles : 3).[0m ×2 + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726493 ms (missed cycles : 2). + 29.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726493 ms (missed cycles : 2).[0m ×2 + 30.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791250 ms (missed cycles : 6). + 30.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791250 ms (missed cycles : 6).[0m ×2 + 31.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2). + 31.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2).[0m ×2 + 32.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4). + 32.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4).[0m ×2 + 33.18sINFOjoint_trajectory_controllerGoal reached, success! + 33.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 33.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4). + 33.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4).[0m ×2 + 33.51sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 33.52sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 33.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313645.77089953 seconds ×3 + 33.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 33.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 34.15sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313646.39817858 seconds. ×3 + 34.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4). + 34.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4).[0m ×2 + 34.50sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4). + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4).[0m ×2 + 35.73sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.408ms + 36.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 ms (missed cycles : 2). + 36.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.7s | 183 warnings · 120 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784313475.02520943 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883635 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883635 ms (missed cycles : 3).[0m ×2 + 0.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms ×2 + 0.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784313475.58247209 seconds. ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096418 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096418 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 1.54sINFOobjective_server_nodeFound path in 0 iterations (2.053e-05 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.57sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.57sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290752 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290752 ms (missed cycles : 3).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986704 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986704 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784313478.65262175 seconds ×3 + 3.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 4.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784313479.21270967 seconds. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935182 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935182 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963351 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963351 ms (missed cycles : 2).[0m ×2 + 6.08sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035334 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035334 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504553 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504553 ms (missed cycles : 3).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756522 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756522 ms (missed cycles : 3).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802668 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802668 ms (missed cycles : 2).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222355 ms (missed cycles : 3). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222355 ms (missed cycles : 3).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750609 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750609 ms (missed cycles : 2).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799585 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799585 ms (missed cycles : 2).[0m ×2 + 12.70sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304060 ms (missed cycles : 4). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304060 ms (missed cycles : 4).[0m ×2 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875124 ms (missed cycles : 7). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875124 ms (missed cycles : 7).[0m ×2 + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866744 ms (missed cycles : 2). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866744 ms (missed cycles : 2).[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383382 ms (missed cycles : 3). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383382 ms (missed cycles : 3).[0m ×2 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381641 ms (missed cycles : 2). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381641 ms (missed cycles : 2).[0m ×2 + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461795 ms (missed cycles : 5). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461795 ms (missed cycles : 5).[0m ×2 + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982460 ms (missed cycles : 5). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982460 ms (missed cycles : 5).[0m ×2 + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992904 ms (missed cycles : 2). + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992904 ms (missed cycles : 2).[0m ×2 + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828372 ms (missed cycles : 2). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828372 ms (missed cycles : 2).[0m ×2 + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.362630 ms (missed cycles : 4). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.362630 ms (missed cycles : 4).[0m ×2 + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220793 ms (missed cycles : 2). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220793 ms (missed cycles : 2).[0m ×2 + 25.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400822 ms (missed cycles : 4). + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400822 ms (missed cycles : 4).[0m ×2 + 26.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045143 ms (missed cycles : 2). + 26.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045143 ms (missed cycles : 2).[0m ×2 + 27.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388381 ms (missed cycles : 3). + 27.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388381 ms (missed cycles : 3).[0m ×2 + 28.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698432 ms (missed cycles : 3). + 28.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698432 ms (missed cycles : 3).[0m ×2 + 29.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.812966 ms (missed cycles : 5). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.812966 ms (missed cycles : 5).[0m ×2 + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984985 ms (missed cycles : 2). + 30.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984985 ms (missed cycles : 2).[0m ×2 + 31.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.536901 ms (missed cycles : 6). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.536901 ms (missed cycles : 6).[0m ×2 + 32.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953187 ms (missed cycles : 3). + 32.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953187 ms (missed cycles : 3).[0m ×2 + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010146 ms (missed cycles : 4). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010146 ms (missed cycles : 4).[0m ×2 + 34.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527558 ms (missed cycles : 4). + 34.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527558 ms (missed cycles : 4).[0m ×2 + 34.84sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466366 ms (missed cycles : 3). + 35.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466366 ms (missed cycles : 3).[0m ×2 + 36.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961088 ms (missed cycles : 2). + 36.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961088 ms (missed cycles : 2).[0m ×2 + 37.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016729 ms (missed cycles : 5). + 37.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016729 ms (missed cycles : 5).[0m ×2 + 38.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102518 ms (missed cycles : 4). + 38.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102518 ms (missed cycles : 4).[0m ×2 + 39.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503757 ms (missed cycles : 3). + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503757 ms (missed cycles : 3).[0m ×2 + 40.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473339 ms (missed cycles : 4). + 40.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473339 ms (missed cycles : 4).[0m ×2 + 40.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.139ms + 41.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812171 ms (missed cycles : 3). + 41.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812171 ms (missed cycles : 3).[0m ×2 + 42.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms + 42.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.186175 ms (missed cycles : 5). + 42.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.186175 ms (missed cycles : 5).[0m ×2 + 43.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.010953 ms (missed cycles : 6). + 43.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.010953 ms (missed cycles : 6).[0m ×2 + 44.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 44.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071367 ms (missed cycles : 2). + 44.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071367 ms (missed cycles : 2).[0m ×2 + 45.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746326 ms (missed cycles : 6). + 45.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746326 ms (missed cycles : 6).[0m ×2 + 47.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946229 ms (missed cycles : 3). + 47.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946229 ms (missed cycles : 3).[0m ×2 + 47.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 48.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074973 ms (missed cycles : 2). + 48.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074973 ms (missed cycles : 2).[0m ×2 + 48.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 49.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.072893 ms (missed cycles : 5). + 49.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.072893 ms (missed cycles : 5).[0m ×2 + 50.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967353 ms (missed cycles : 2). + 50.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967353 ms (missed cycles : 2).[0m ×2 + 50.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 51.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046357 ms (missed cycles : 3). + 51.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046357 ms (missed cycles : 3).[0m ×2 + 51.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.047ms + 52.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891443 ms (missed cycles : 2). + 52.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891443 ms (missed cycles : 2).[0m ×2 + 53.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716327 ms (missed cycles : 2). + 53.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716327 ms (missed cycles : 2).[0m ×2 + 54.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296515 ms (missed cycles : 5). + 54.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296515 ms (missed cycles : 5).[0m ×2 + 54.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 55.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841164 ms (missed cycles : 3). + 55.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841164 ms (missed cycles : 3).[0m ×2 + 56.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 56.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316471 ms (missed cycles : 4). + 56.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316471 ms (missed cycles : 4).[0m ×2 + 57.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149638 ms (missed cycles : 4). + 57.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149638 ms (missed cycles : 4).[0m ×2 + 58.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919741 ms (missed cycles : 3). + 58.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919741 ms (missed cycles : 3).[0m ×2 + 58.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 59.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 59.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772658 ms (missed cycles : 3). + 59.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772658 ms (missed cycles : 3).[0m ×2 + 60.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784313535.38287473 seconds ×3 + 60.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412170 ms (missed cycles : 4). + 60.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412170 ms (missed cycles : 4).[0m ×2 + 60.96sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784313535.94043636 seconds. ×3 + 61.32sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 61.33sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710030 ms (missed cycles : 3). + 61.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710030 ms (missed cycles : 3).[0m ×2 + 62.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286513 ms (missed cycles : 5). + 62.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286513 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.3s | 6 errors · 180 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791250 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791250 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.01sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.35sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313645.77089953 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 3.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313646.39817858 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 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.408ms + 5.73sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.73sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.74sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 ms (missed cycles : 2).[0m ×2 + 7.15sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.278ms + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.557398 ms (missed cycles : 6). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.557398 ms (missed cycles : 6).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.736509 ms (missed cycles : 6). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.736509 ms (missed cycles : 6).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774523 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774523 ms (missed cycles : 3).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576902 ms (missed cycles : 3). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576902 ms (missed cycles : 3).[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.365823 ms (missed cycles : 6). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.365823 ms (missed cycles : 6).[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330715 ms (missed cycles : 2). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330715 ms (missed cycles : 2).[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491364 ms (missed cycles : 3). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491364 ms (missed cycles : 3).[0m ×2 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463637 ms (missed cycles : 3). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463637 ms (missed cycles : 3).[0m ×2 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352599 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352599 ms (missed cycles : 2).[0m ×2 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941007 ms (missed cycles : 3). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941007 ms (missed cycles : 3).[0m ×2 + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981303 ms (missed cycles : 2). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981303 ms (missed cycles : 2).[0m ×2 + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695955 ms (missed cycles : 2). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695955 ms (missed cycles : 2).[0m ×2 + 19.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116901 ms (missed cycles : 2). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116901 ms (missed cycles : 2).[0m ×2 + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523395 ms (missed cycles : 3). + 20.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523395 ms (missed cycles : 3).[0m ×2 + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232144 ms (missed cycles : 4). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232144 ms (missed cycles : 4).[0m ×2 + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215623 ms (missed cycles : 2). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215623 ms (missed cycles : 2).[0m ×2 + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372876 ms (missed cycles : 4). + 23.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372876 ms (missed cycles : 4).[0m ×2 + 24.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025240 ms (missed cycles : 3). + 24.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025240 ms (missed cycles : 3).[0m ×2 + 25.27sINFOros2_control_nodeMuJoCo sim: 0.67% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 25.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.369612 ms (missed cycles : 4). + 25.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.369612 ms (missed cycles : 4).[0m ×2 + 26.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169368 ms (missed cycles : 3). + 26.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169368 ms (missed cycles : 3).[0m ×2 + 27.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019614 ms (missed cycles : 2). + 27.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019614 ms (missed cycles : 2).[0m ×2 + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050713 ms (missed cycles : 2). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050713 ms (missed cycles : 2).[0m ×2 + 30.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751789 ms (missed cycles : 3). + 30.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751789 ms (missed cycles : 3).[0m ×2 + 31.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207841 ms (missed cycles : 2). + 31.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207841 ms (missed cycles : 2).[0m ×2 + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112244 ms (missed cycles : 5). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112244 ms (missed cycles : 5).[0m ×2 + 33.10sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.612607 ms (missed cycles : 4). + 33.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.612607 ms (missed cycles : 4).[0m ×2 + 34.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686035 ms (missed cycles : 2). + 34.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686035 ms (missed cycles : 2).[0m ×2 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165160 ms (missed cycles : 2). + 35.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165160 ms (missed cycles : 2).[0m ×2 + 36.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894440 ms (missed cycles : 2). + 36.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894440 ms (missed cycles : 2).[0m ×2 + 37.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963749 ms (missed cycles : 2). + 37.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963749 ms (missed cycles : 2).[0m ×2 + 38.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750405 ms (missed cycles : 3). + 38.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750405 ms (missed cycles : 3).[0m ×2 + 39.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.844953 ms (missed cycles : 6). + 39.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.844953 ms (missed cycles : 6).[0m ×2 + 39.56sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.471ms + 40.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338184 ms (missed cycles : 3). + 40.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338184 ms (missed cycles : 3).[0m ×2 + 41.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775644 ms (missed cycles : 2). + 41.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775644 ms (missed cycles : 2).[0m ×2 + 42.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925078 ms (missed cycles : 3). + 42.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925078 ms (missed cycles : 3).[0m ×2 + 42.86sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 1.448ms + 43.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568669 ms (missed cycles : 2). + 43.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568669 ms (missed cycles : 2).[0m ×2 + 44.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399768 ms (missed cycles : 3). + 44.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399768 ms (missed cycles : 3).[0m ×2 + 45.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869704 ms (missed cycles : 2). + 45.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869704 ms (missed cycles : 2).[0m ×2 + 46.15sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 1.445ms + 46.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.072133 ms (missed cycles : 5). + 46.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.072133 ms (missed cycles : 5).[0m ×2 + 47.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184371 ms (missed cycles : 5). + 47.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184371 ms (missed cycles : 5).[0m ×2 + 48.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542990 ms (missed cycles : 2). + 48.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542990 ms (missed cycles : 2).[0m ×2 + 49.45sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 1.900ms + 49.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400113 ms (missed cycles : 4). + 49.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400113 ms (missed cycles : 4).[0m ×2 + 50.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.143608 ms (missed cycles : 6). + 50.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.143608 ms (missed cycles : 6).[0m ×2 + 51.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219871 ms (missed cycles : 2). + 51.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219871 ms (missed cycles : 2).[0m ×2 + 52.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094487 ms (missed cycles : 2). + 52.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094487 ms (missed cycles : 2).[0m ×2 + 53.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 53.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944595 ms (missed cycles : 3). + 53.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944595 ms (missed cycles : 3).[0m ×2 + 54.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369071 ms (missed cycles : 2). + 54.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369071 ms (missed cycles : 2).[0m ×2 + 55.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228253 ms (missed cycles : 4). + 55.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228253 ms (missed cycles : 4).[0m ×2 + 56.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.256473 ms (missed cycles : 6). + 56.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.256473 ms (missed cycles : 6).[0m ×2 + 57.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.151ms + 57.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409894 ms (missed cycles : 4). + 58.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409894 ms (missed cycles : 4).[0m ×2 + 58.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784313701.13831949 seconds ×3 + 58.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.360ms + 58.94sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.649ms + 59.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579609 ms (missed cycles : 2). + 59.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579609 ms (missed cycles : 2).[0m ×2 + 59.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784313701.70340610 seconds. ×3 + 59.61sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 59.63sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 59.65sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.633ms + 60.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721331 ms (missed cycles : 6). + 60.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721331 ms (missed cycles : 6).[0m ×2 + 61.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414915 ms (missed cycles : 3). + 61.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414915 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 144 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.55sINFOmove_groupClearing octomap...[0m ×2 + 1.55sINFOmove_groupOctomap cleared.[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.43sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.46sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.36sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162296 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162296 ms (missed cycles : 5).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927355 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927355 ms (missed cycles : 2).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540746 ms (missed cycles : 4). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540746 ms (missed cycles : 4).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243296 ms (missed cycles : 4). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243296 ms (missed cycles : 4).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131010 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131010 ms (missed cycles : 2).[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606402 ms (missed cycles : 3). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606402 ms (missed cycles : 3).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621059 ms (missed cycles : 4). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621059 ms (missed cycles : 4).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108688 ms (missed cycles : 5). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108688 ms (missed cycles : 5).[0m ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188743 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188743 ms (missed cycles : 3).[0m ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787365 ms (missed cycles : 5). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787365 ms (missed cycles : 5).[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969207 ms (missed cycles : 2). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969207 ms (missed cycles : 2).[0m ×2 + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273007 ms (missed cycles : 3). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273007 ms (missed cycles : 3).[0m ×2 + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567914 ms (missed cycles : 5). + 18.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567914 ms (missed cycles : 5).[0m ×2 + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622657 ms (missed cycles : 3). + 19.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622657 ms (missed cycles : 3).[0m ×2 + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969628 ms (missed cycles : 2). + 20.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969628 ms (missed cycles : 2).[0m ×2 + 21.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539233 ms (missed cycles : 3). + 21.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539233 ms (missed cycles : 3).[0m ×2 + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456444 ms (missed cycles : 2). + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456444 ms (missed cycles : 2).[0m ×2 + 23.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.047ms + 24.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126403 ms (missed cycles : 2). + 24.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126403 ms (missed cycles : 2).[0m ×2 + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.385717 ms (missed cycles : 6). + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.385717 ms (missed cycles : 6).[0m ×2 + 26.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054564 ms (missed cycles : 2). + 26.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054564 ms (missed cycles : 2).[0m ×2 + 27.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840321 ms (missed cycles : 2). + 27.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840321 ms (missed cycles : 2).[0m ×2 + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589734 ms (missed cycles : 3). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589734 ms (missed cycles : 3).[0m ×2 + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.218736 ms (missed cycles : 6). + 29.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.218736 ms (missed cycles : 6).[0m ×2 + 30.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442422 ms (missed cycles : 4). + 30.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442422 ms (missed cycles : 4).[0m ×2 + 31.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718993 ms (missed cycles : 3). + 31.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718993 ms (missed cycles : 3).[0m ×2 + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254513 ms (missed cycles : 3). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254513 ms (missed cycles : 3).[0m ×2 + 33.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147281 ms (missed cycles : 4). + 33.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147281 ms (missed cycles : 4).[0m ×2 + 34.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681321 ms (missed cycles : 3). + 34.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681321 ms (missed cycles : 3).[0m ×2 + 35.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558578 ms (missed cycles : 2). + 35.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558578 ms (missed cycles : 2).[0m ×2 + 36.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038839 ms (missed cycles : 2). + 36.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038839 ms (missed cycles : 2).[0m ×2 + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654614 ms (missed cycles : 3). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654614 ms (missed cycles : 3).[0m ×2 + 38.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221031 ms (missed cycles : 2). + 38.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221031 ms (missed cycles : 2).[0m ×2 + 39.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514030 ms (missed cycles : 3). + 39.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514030 ms (missed cycles : 3).[0m ×2 + 40.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596919 ms (missed cycles : 3). + 40.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596919 ms (missed cycles : 3).[0m ×2 + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923928 ms (missed cycles : 3). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923928 ms (missed cycles : 3).[0m ×2 + 42.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963422 ms (missed cycles : 5). + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963422 ms (missed cycles : 5).[0m ×2 + 43.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 44.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777330 ms (missed cycles : 3). + 44.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777330 ms (missed cycles : 3).[0m ×2 + 45.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192692 ms (missed cycles : 2). + 45.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192692 ms (missed cycles : 2).[0m ×2 + 46.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229047 ms (missed cycles : 5). + 46.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229047 ms (missed cycles : 5).[0m ×2 + 46.92sINFOjoint_trajectory_controllerGoal reached, success! + 46.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784313475.02520943 seconds ×3 + 47.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 47.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883635 ms (missed cycles : 3). + 47.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883635 ms (missed cycles : 3).[0m ×2 + 47.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 47.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 47.52sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784313475.58247209 seconds. ×3 + 48.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096418 ms (missed cycles : 2). + 48.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096418 ms (missed cycles : 2).[0m ×2 + 48.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 48.46sINFOobjective_server_nodeFound path in 0 iterations (2.053e-05 s). ×2 + 48.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290752 ms (missed cycles : 3). + 49.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290752 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.1s | 111 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286513 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286513 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737751 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737751 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004830 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004830 ms (missed cycles : 2).[0m ×2 + 2.15sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.15sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.18sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784313539.94058228 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.595716 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.595716 ms (missed cycles : 6).[0m ×2 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.74sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784313541.49723935 seconds. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (6.7e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311755 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311755 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951194 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951194 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.84sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.84sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.84sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.84sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.543290 ms (missed cycles : 6). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.543290 ms (missed cycles : 6).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412598 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412598 ms (missed cycles : 2).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470190 ms (missed cycles : 3). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470190 ms (missed cycles : 3).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736609 ms (missed cycles : 3). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736609 ms (missed cycles : 3).[0m ×2 + 9.92sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140433 ms (missed cycles : 2). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140433 ms (missed cycles : 2).[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344919 ms (missed cycles : 3). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344919 ms (missed cycles : 3).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816875 ms (missed cycles : 3). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816875 ms (missed cycles : 3).[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839183 ms (missed cycles : 2). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839183 ms (missed cycles : 2).[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.898847 ms (missed cycles : 6). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.898847 ms (missed cycles : 6).[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991365 ms (missed cycles : 5). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991365 ms (missed cycles : 5).[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570827 ms (missed cycles : 3). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570827 ms (missed cycles : 3).[0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774709 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774709 ms (missed cycles : 2).[0m ×2 + 18.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026864 ms (missed cycles : 5). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026864 ms (missed cycles : 5).[0m ×2 + 19.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573067 ms (missed cycles : 3). + 19.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573067 ms (missed cycles : 3).[0m ×2 + 20.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.914439 ms (missed cycles : 5). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.914439 ms (missed cycles : 5).[0m ×2 + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347059 ms (missed cycles : 2). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347059 ms (missed cycles : 2).[0m ×2 + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482630 ms (missed cycles : 3). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482630 ms (missed cycles : 3).[0m ×2 + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248507 ms (missed cycles : 2). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248507 ms (missed cycles : 2).[0m ×2 + 24.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233403 ms (missed cycles : 2). + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233403 ms (missed cycles : 2).[0m ×2 + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384653 ms (missed cycles : 3). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384653 ms (missed cycles : 3).[0m ×2 + 26.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597881 ms (missed cycles : 3). + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597881 ms (missed cycles : 3).[0m ×2 + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.188360 ms (missed cycles : 7). + 27.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.188360 ms (missed cycles : 7).[0m ×2 + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.551436 ms (missed cycles : 10). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.551436 ms (missed cycles : 10).[0m ×2 + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.442517 ms (missed cycles : 7). + 29.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.442517 ms (missed cycles : 7).[0m ×2 + 30.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360405 ms (missed cycles : 4). + 30.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360405 ms (missed cycles : 4).[0m ×2 + 32.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433943 ms (missed cycles : 2). + 32.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433943 ms (missed cycles : 2).[0m ×2 + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628079 ms (missed cycles : 2). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628079 ms (missed cycles : 2).[0m ×2 + 34.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226451 ms (missed cycles : 2). + 34.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226451 ms (missed cycles : 2).[0m ×2 + 34.25sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784313572.00747013 seconds ×3 + 34.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784313572.57569957 seconds. ×3 + 35.15sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 35.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.727557 ms (missed cycles : 8). + 35.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.727557 ms (missed cycles : 8).[0m ×2 + 35.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 36.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619796 ms (missed cycles : 2). + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619796 ms (missed cycles : 2).[0m ×2 + 36.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054619 ms (missed cycles : 2). + 37.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054619 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.0s | 60 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369071 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369071 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228253 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228253 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.256473 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.256473 ms (missed cycles : 6).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.151ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409894 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409894 ms (missed cycles : 4).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.82sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784313701.13831949 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.360ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.649ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579609 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579609 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784313701.70340610 seconds. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.633ms + 4.80sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.80sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.80sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721331 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721331 ms (missed cycles : 6).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414915 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414915 ms (missed cycles : 3).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871637 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871637 ms (missed cycles : 2).[0m ×2 + 7.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.300ms + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153362 ms (missed cycles : 2). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153362 ms (missed cycles : 2).[0m ×2 + 9.03sINFOobjective_server_nodeFound path in 0 iterations (1.02e-06 s). ×2 + 9.05sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.08sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 9.11sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 9.19sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.22sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.820678 ms (missed cycles : 6). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.820678 ms (missed cycles : 6).[0m ×2 + 9.35sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.39sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 9.60sINFOobjective_server_nodeFound path in 47 iterations (0.0355212 s). ×2 + 9.86sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_____X] ×2 + 9.91sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077075 ms (missed cycles : 2). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077075 ms (missed cycles : 2).[0m ×2 + 10.26sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.31sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 10.61sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.85sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869096 ms (missed cycles : 3). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869096 ms (missed cycles : 3).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757728 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757728 ms (missed cycles : 2).[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089870 ms (missed cycles : 4). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089870 ms (missed cycles : 4).[0m ×2 + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527337 ms (missed cycles : 2). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527337 ms (missed cycles : 2).[0m ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317959 ms (missed cycles : 5). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317959 ms (missed cycles : 5).[0m ×2 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.698133 ms (missed cycles : 6). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.698133 ms (missed cycles : 6).[0m ×2 + 16.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784313714.12208128 seconds ×3 + 17.00sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.222ms + 17.09sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 1.994ms + 17.21sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.334ms + 17.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784313714.71998715 seconds. ×3 + 17.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.46sINFOmove_groupClearing octomap...[0m ×2 + 17.46sINFOmove_groupOctomap cleared.[0m ×2 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806999 ms (missed cycles : 3). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806999 ms (missed cycles : 3).[0m ×2 + 17.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784313715.21025634 seconds ×3 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 18.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784313715.76303744 seconds. ×3 + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.158773 ms (missed cycles : 6). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.158773 ms (missed cycles : 6).[0m ×2 + 19.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784313716.31318402 seconds ×3 + 19.27sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467357 ms (missed cycles : 2). + 19.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467357 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.0s | 93 errors · 33 warnings · 429 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527337 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527337 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317959 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317959 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.698133 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.698133 ms (missed cycles : 6).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784313714.12208128 seconds ×3 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.222ms + 2.70sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 1.994ms + 2.82sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.334ms + 3.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784313714.71998715 seconds. ×3 + 3.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.07sINFOmove_groupClearing octomap...[0m ×2 + 3.07sINFOmove_groupOctomap cleared.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806999 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806999 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784313715.21025634 seconds ×3 + 3.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 3.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 4.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784313715.76303744 seconds. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.158773 ms (missed cycles : 6). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.158773 ms (missed cycles : 6).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784313716.31318402 seconds ×3 + 4.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467357 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467357 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374506 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374506 ms (missed cycles : 2).[0m ×2 + 6.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200682 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200682 ms (missed cycles : 2).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979232 ms (missed cycles : 4). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979232 ms (missed cycles : 4).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686935 ms (missed cycles : 5). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686935 ms (missed cycles : 5).[0m ×2 + 10.16sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORweb_video_server-33process[web_video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.22sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.22sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 10.24sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.24sERRORweb_video_auth_proxy-35process has died [pid 13548, 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 + 10.25sERRORfixed_lag_smoother_node-8process[fixed_lag_smoother_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 10.28sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORweb_bridge_auth_proxy-34process has died [pid 13543, 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 + 10.29sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sINFOweb_video_server-33sending signal 'SIGTERM' to process[web_video_server-33] ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.787622 ms (missed cycles : 6). + 10.32sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 10.34sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 10.36sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 10.38sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 10.41sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 10.43sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 10.47sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 10.49sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 10.52sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 10.55sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 10.58sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 10.59sINFOweb_video_server-33process has finished cleanly [pid 13542] ×2 + 10.60sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 10.62sINFOtf2_web_republisher_node-32process has finished cleanly [pid 13541] ×2 + 10.64sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 10.64sINFOcontroller_managerShutdown request received.... + 10.64sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.64sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.64sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.64sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.64sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.64sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.64sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.64sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.64sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.64sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.64sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.64sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.64sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.64sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.64sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.64sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.64sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.64sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.64sINFOcontroller_managerShutting down the controller manager. + 10.66sINFOfixed_lag_smoother_node-8sending signal 'SIGTERM' to process[fixed_lag_smoother_node-8] ×2 + 10.68sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.69sERRORmove_group-21process has died [pid 13474, 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_86zlurkx --params-file /tmp/launch_params_7eygi1wc --params-file /tmp/launch_params_ebvqbm_f --params-file /tmp/launch_params_vnnirhz_ --params-file /tmp/launch_params_f8ylbqxy --params-file /tmp/launch_params__7of138v']. ×2 + 10.69sERRORui_teleop_bridge-30process has died [pid 13539, 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_af36do2z']. ×2 + 10.71sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.71sINFOcomponent_container_mt-28process has finished cleanly [pid 13537] ×2 + 10.73sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.75sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] ×2 + 10.76sINFOexecute_objective_bridge-29process has finished cleanly [pid 13538] ×2 + 10.78sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] ×2 + 10.78sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 10.80sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.82sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.82sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.82sINFOcontroller_serverCleaning up + 10.82sINFOlocal_costmap.local_costmapCleaning up + 10.82sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.787622 ms (missed cycles : 6).[0m ×2 + 10.82sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.82sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.82sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.82sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.82sINFOui_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 + 10.82sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.82sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.82sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.82sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.82sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.82sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.82sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.82sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.83sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.83sINFOobjective_server_node[0;m[0m[INFO] [2026-07-17 18:42:02.125] signal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.83sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 10.83sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.83sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.83sERRORmove_groupStack trace (most recent call last) in thread 14098: ×2 + 10.83sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.83sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe29ca51a63, in __clone ×2 + 10.83sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe29c9c4aa3, in ×2 + 10.83sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe29cc56db3, in ×2 + 10.83sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fe29d2ab1c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.84sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe29cfc94d0, in rclcpp::Rate::sleep() ×2 + 10.84sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe29cf1ca88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.84sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe29cee1a71, in ×2 + 10.84sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe29cc25390, in __cxa_throw ×2 + 10.84sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe29cc0fa54, in std::terminate() ×2 + 10.84sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe29cc250d9, in ×2 + 10.84sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe29cc0fff4, in ×2 + 10.84sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe29c9508fe, in abort ×2 + 10.84sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe29c96d27d, in raise ×2 + 10.84sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe29c9c6b2c, in pthread_kill ×2 + 10.84sERRORmove_groupAborted (Signal sent by tkill() 13474 0) ×2 + 10.84sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.84sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.84sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.84sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.84sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.84sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.84sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.84sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.84sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.84sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.84sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.84sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.84sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.84sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.84sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.84sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.84sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.84sINFOodom_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 + 10.84sINFOodom_qos_relay.pymain() ×2 + 10.84sINFOodom_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 + 10.85sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.85sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.85sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.85sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.85sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.85sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.85sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.85sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.85sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.85sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.85sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.85sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.85sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.85sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.85sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.85sERRORodom_world_drift.pyTraceback (most recent call last): ×2 + 10.85sINFOodom_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 + 10.85sINFOodom_world_drift.pymain() ×2 + 10.85sINFOodom_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 + 10.85sINFOodom_world_drift.pyrclpy.spin(node) ×2 + 10.85sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.85sINFOodom_world_drift.pyexecutor.spin_once() ×2 + 10.85sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.85sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) ×2 + 10.85sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.85sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.85sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.85sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.85sINFOodom_world_drift.pyreturn next(self._cb_iter) ×2 + 10.85sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.85sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.85sINFOodom_world_drift.pyraise ExternalShutdownException() ×2 + 10.85sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException ×2 + 10.85sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.85sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.86sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.86sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 10.86sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 10.86sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.86sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.86sINFOmap_serverDeactivating + 10.86sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.87sINFOmap_serverCleaning up + 10.87sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.87sINFOsmoother_serverCleaning up + 10.88sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.88sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.88sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.89sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.89sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.90sERRORamclThe bond connection to the lifecycle manager has been broken + 10.91sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.91sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.91sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.91sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.91sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.91sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.91sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.91sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.91sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.99sINFOobjective_server_node[2026-07-17 18:42:02.648] [moveit_pro_license] [info] ×2 + 10.99sINFOobjective_server_node************************************************* ×4 + 10.99sINFOobjective_server_node* MoveIt Pro License ×2 + 10.99sINFOobjective_server_node* Application has successfully terminated ×2 + 11.02sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.03sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.03sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d8f6ed56a4, in _start ×2 + 11.03sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f24a755528a, in __libc_start_main ×2 + 11.03sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f24a75551d0, in ×2 + 11.03sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f24a7572bbd, in exit ×2 + 11.03sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f24a7572a75, in ×2 + 11.03sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f24a7a418f5, in spdlog::details::registry::~registry() ×2 + 11.03sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d8f6ed5d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.03sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d8f6edc315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.03sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d8f6edb5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.03sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d8f6ed7b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.03sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d8f6ed5d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.03sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f24a80f7454, in rclcpp::Node::~Node() ×2 + 11.04sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f24a80b2515, in ×2 + 11.04sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f24a80f5d20, in ×2 + 11.04sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f24a80f5c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.04sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f24a80b25d9, in ×2 + 11.04sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f24a80b7161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.04sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f2453e55160]) ×2 + 11.13sERRORobjective_server_node_main-26process has died [pid 13533, 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_vvw23f_3 --params-file /tmp/launch_params_u_uft0v1 --params-file /tmp/launch_params_ey3dzbb_ --params-file /tmp/launch_params_iaehkfln --params-file /tmp/launch_params_3ai5b6_h --params-file /tmp/launch_params_sd69yzfl --params-file /tmp/launch_params_0f0st1qn --params-file /tmp/launch_params_9sx_nxh8 --params-file /tmp/launch_params_464ztl9c']. ×2 + 11.13sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 11.32sERRORcomponent_container_isolated-1process has died [pid 13376, 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_xbx2x765 --params-file /tmp/launch_params_25dov0vc -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.55sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 13532] ×2 + 11.58sINFOmove_joint_resampler_node-24process has finished cleanly [pid 13531] ×2 + 11.66sINFOparameter_manager_node-22process has finished cleanly [pid 13475] ×2 + 11.67sINFOwaypoint_manager_node-23process has finished cleanly [pid 13476] ×2 + 11.70sINFOcomponent_container_mt-27process has finished cleanly [pid 13536] ×2 + 11.73sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 13382] ×2 + 11.73sINFOfixed_lag_smoother_node-8process has finished cleanly [pid 13383] ×2 + 11.75sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 13381] ×2 + 11.80sINFOslip_aware_odom-4process has finished cleanly [pid 13379] ×2 + 11.83sERRORodom_qos_relay.py-5process has died [pid 13380, 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 + 11.83sINFOstatic_transform_publisher-2process has finished cleanly [pid 13377] ×2 + 12.86sERRORodom_world_drift.py-3process has died [pid 13378, 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 + 12.96sINFOweb_bridge-31process has finished cleanly [pid 13540] ×2 + 12.96sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 13.44sINFOros2_control_node-9process has finished cleanly [pid 13384] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 9 errors · 51 warnings · 63 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523033 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523033 ms (missed cycles : 3).[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538469 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538469 ms (missed cycles : 4).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047164 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047164 ms (missed cycles : 2).[0m ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729791 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729791 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.61sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 3.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784313605.09592938 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.29sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784313605.77402234 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783550 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783550 ms (missed cycles : 3).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813558 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813558 ms (missed cycles : 3).[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 + 6.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 6.20sINFOros2_control_nodeMuJoCo sim: 0.71% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392774 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392774 ms (missed cycles : 2).[0m ×2 + 6.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 7.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942817 ms (missed cycles : 3). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942817 ms (missed cycles : 3).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675715 ms (missed cycles : 2). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675715 ms (missed cycles : 2).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566981 ms (missed cycles : 3). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566981 ms (missed cycles : 3).[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754606 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754606 ms (missed cycles : 2).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045101 ms (missed cycles : 2). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045101 ms (missed cycles : 2).[0m ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318135 ms (missed cycles : 4). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318135 ms (missed cycles : 4).[0m ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503105 ms (missed cycles : 2). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503105 ms (missed cycles : 2).[0m ×2 + 14.49sINFOjoint_trajectory_controllerGot request to cancel goal + 14.49sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.49sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.49sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784313615.99445915 seconds ×3 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339033 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339033 ms (missed cycles : 2).[0m ×2 + 15.07sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784313616.55065727 seconds. ×3 + 15.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999025 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999025 ms (missed cycles : 2).[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576838 ms (missed cycles : 3). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576838 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 36 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149638 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149638 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919741 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919741 ms (missed cycles : 3).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772658 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772658 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.82sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784313535.38287473 seconds ×3 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412170 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412170 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784313535.94043636 seconds. ×3 + 3.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.78sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.78sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710030 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710030 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286513 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286513 ms (missed cycles : 5).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737751 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737751 ms (missed cycles : 5).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004830 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004830 ms (missed cycles : 2).[0m ×2 + 7.39sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784313539.94058228 seconds ×3 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.595716 ms (missed cycles : 6). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.595716 ms (missed cycles : 6).[0m ×2 + 8.95sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784313541.49723935 seconds. ×3 + 9.30sINFOobjective_server_nodeFound path in 0 iterations (6.7e-07 s). ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311755 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311755 ms (missed cycles : 2).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951194 ms (missed cycles : 3). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951194 ms (missed cycles : 3).[0m ×2 + 10.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.543290 ms (missed cycles : 6). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.543290 ms (missed cycles : 6).[0m ×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 3.777330 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777330 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192692 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192692 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229047 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229047 ms (missed cycles : 5).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.90sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784313475.02520943 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883635 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883635 ms (missed cycles : 3).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 3.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 3.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784313475.58247209 seconds. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096418 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096418 ms (missed cycles : 2).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 4.44sINFOobjective_server_nodeFound path in 0 iterations (2.053e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.46sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.46sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.46sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290752 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290752 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986704 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986704 ms (missed cycles : 2).[0m ×2 + 6.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784313478.65262175 seconds ×3 + 6.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 6.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 7.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784313479.21270967 seconds. ×3 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935182 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935182 ms (missed cycles : 2).[0m ×2 + 7.47sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963351 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963351 ms (missed cycles : 2).[0m ×2 + 8.97sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035334 ms (missed cycles : 3). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035334 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 24 warnings · 38 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089870 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089870 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527337 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527337 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317959 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317959 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.698133 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.698133 ms (missed cycles : 6).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784313714.12208128 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.68sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.222ms + 3.77sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 1.994ms + 3.89sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.334ms + 4.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784313714.71998715 seconds. ×3 + 4.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.14sINFOmove_groupClearing octomap...[0m ×2 + 4.14sINFOmove_groupOctomap cleared.[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806999 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806999 ms (missed cycles : 3).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784313715.21025634 seconds ×3 + 4.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 4.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 5.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784313715.76303744 seconds. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.158773 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.158773 ms (missed cycles : 6).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784313716.31318402 seconds ×3 + 5.95sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467357 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467357 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374506 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374506 ms (missed cycles : 2).[0m ×2 + 7.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 33 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777330 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777330 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192692 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192692 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229047 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229047 ms (missed cycles : 5).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784313475.02520943 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883635 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883635 ms (missed cycles : 3).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 3.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 3.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784313475.58247209 seconds. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096418 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096418 ms (missed cycles : 2).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 4.44sINFOobjective_server_nodeFound path in 0 iterations (2.053e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOjoint_trajectory_controllerReceived new action goal + 4.46sINFOjoint_trajectory_controllerAccepted new action goal + 4.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290752 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290752 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149638 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149638 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919741 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919741 ms (missed cycles : 3).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772658 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772658 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784313535.38287473 seconds ×3 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412170 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412170 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784313535.94043636 seconds. ×3 + 3.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710030 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710030 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286513 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286513 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149638 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149638 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919741 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919741 ms (missed cycles : 3).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772658 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772658 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784313535.38287473 seconds ×3 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412170 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412170 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784313535.94043636 seconds. ×3 + 3.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710030 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710030 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286513 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286513 ms (missed cycles : 5).[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 8.791250 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791250 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.35sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313645.77089953 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 3.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313646.39817858 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.408ms + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 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 8.791250 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791250 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.35sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313645.77089953 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 3.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313646.39817858 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.408ms + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 ms (missed cycles : 2).[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 6.313769 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.55sINFOmove_groupClearing octomap...[0m ×2 + 1.55sINFOmove_groupOctomap cleared.[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.43sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.46sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162296 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162296 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 33 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777330 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777330 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192692 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192692 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229047 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229047 ms (missed cycles : 5).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784313475.02520943 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883635 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883635 ms (missed cycles : 3).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 3.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 3.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784313475.58247209 seconds. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096418 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096418 ms (missed cycles : 2).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 4.44sINFOobjective_server_nodeFound path in 0 iterations (2.053e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOjoint_trajectory_controllerReceived new action goal + 4.46sINFOjoint_trajectory_controllerAccepted new action goal + 4.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290752 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290752 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 9.566614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.566614 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 6.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 64 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784313475.02520943 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883635 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883635 ms (missed cycles : 3).[0m ×2 + 0.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 0.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784313475.58247209 seconds. ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096418 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096418 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 1.54sINFOobjective_server_nodeFound path in 0 iterations (2.053e-05 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290752 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290752 ms (missed cycles : 3).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986704 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986704 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784313478.65262175 seconds ×3 + 3.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 4.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784313479.21270967 seconds. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935182 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935182 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963351 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963351 ms (missed cycles : 2).[0m ×2 + 6.08sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035334 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035334 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149638 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149638 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919741 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919741 ms (missed cycles : 3).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772658 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772658 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784313535.38287473 seconds ×3 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412170 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412170 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784313535.94043636 seconds. ×3 + 3.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710030 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710030 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286513 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286513 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149638 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149638 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919741 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919741 ms (missed cycles : 3).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772658 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772658 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784313535.38287473 seconds ×3 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412170 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412170 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784313535.94043636 seconds. ×3 + 3.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710030 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710030 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286513 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286513 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 | 18 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149638 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149638 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919741 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919741 ms (missed cycles : 3).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772658 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772658 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784313535.38287473 seconds ×3 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412170 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.412170 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784313535.94043636 seconds. ×3 + 3.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710030 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710030 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286513 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286513 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360405 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360405 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433943 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433943 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628079 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628079 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226451 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226451 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! + 3.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784313572.00747013 seconds ×3 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784313572.57569957 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.727557 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.727557 ms (missed cycles : 8).[0m ×2 + 4.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619796 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619796 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054619 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054619 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360405 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360405 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433943 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433943 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628079 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628079 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226451 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226451 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! + 3.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784313572.00747013 seconds ×3 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784313572.57569957 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.727557 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.727557 ms (missed cycles : 8).[0m ×2 + 4.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619796 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619796 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054619 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054619 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360405 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360405 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433943 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433943 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628079 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628079 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226451 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226451 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! + 3.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784313572.00747013 seconds ×3 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784313572.57569957 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.727557 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.727557 ms (missed cycles : 8).[0m ×2 + 4.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619796 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619796 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054619 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054619 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 9.566614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.566614 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 6.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 6 errors · 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791250 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791250 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.35sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313645.77089953 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 3.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313646.39817858 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.408ms + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 6 errors · 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791250 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791250 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.35sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313645.77089953 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 3.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313646.39817858 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.408ms + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 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 9.566614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.566614 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 6.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 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 8.791250 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791250 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.35sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313645.77089953 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 3.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313646.39817858 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.408ms + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 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 8.791250 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791250 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.35sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313645.77089953 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 3.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313646.39817858 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.408ms + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 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 8.791250 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791250 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.35sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313645.77089953 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 3.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313646.39817858 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.408ms + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 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 8.791250 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791250 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910143 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796819 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578364 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.35sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313645.77089953 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 3.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313646.39817858 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801847 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421145 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.56sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.408ms + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063131 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089870 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089870 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527337 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527337 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317959 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317959 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.698133 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.698133 ms (missed cycles : 6).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784313714.12208128 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.68sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.222ms + 3.77sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 1.994ms + 3.89sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.334ms + 4.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784313714.71998715 seconds. ×3 + 4.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.14sINFOmove_groupClearing octomap...[0m ×2 + 4.14sINFOmove_groupOctomap cleared.[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806999 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806999 ms (missed cycles : 3).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784313715.21025634 seconds ×3 + 4.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 4.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 5.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784313715.76303744 seconds. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.158773 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.158773 ms (missed cycles : 6).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784313716.31318402 seconds ×3 + 5.95sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467357 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467357 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 30.5s | 71 errors · 691 warnings · 1890 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/2026-07-17-18-31-07-660945-d01c09d08dba-9214 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 12.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×3 + 12.94sINFOros2_control_node-9process started with pid [9272] + 12.94sINFOmove_group-21process started with pid [9363] + 12.94sINFOparameter_manager_node-22process started with pid [9367] + 12.94sINFOwaypoint_manager_node-23process started with pid [9371] + 12.94sINFOmove_joint_resampler_node-24process started with pid [9403] + 12.94sINFOmove_end_effector_resampler_node-25process started with pid [9406] + 12.94sINFOobjective_server_node_main-26process started with pid [9426] + 12.94sINFOcomponent_container_mt-27process started with pid [9427] + 12.94sINFOcomponent_container_mt-28process started with pid [9428] + 12.94sINFOexecute_objective_bridge-29process started with pid [9429] + 12.94sINFOui_teleop_bridge-30process started with pid [9430] + 12.94sINFOweb_bridge-31process started with pid [9431] + 12.94sINFOtf2_web_republisher_node-32process started with pid [9432] + 12.94sINFOweb_video_server-33process started with pid [9433] + 12.94sINFOweb_bridge_auth_proxy-34process started with pid [9434] + 12.94sINFOweb_video_auth_proxy-35process started with pid [9435] + 12.95sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 12.95sINFOcomponent_container_isolated-1process started with pid [9264] + 12.95sINFOstatic_transform_publisher-2process started with pid [9265] + 12.95sINFOodom_world_drift.py-3process started with pid [9266] + 12.95sINFOslip_aware_odom-4process started with pid [9267] + 12.95sINFOodom_qos_relay.py-5process started with pid [9268] + 12.95sINFOscan_to_scan_filter_chain-6process started with pid [9269] + 12.95sINFOscan_to_scan_filter_chain-7process started with pid [9270] + 12.95sINFOfixed_lag_smoother_node-8process started with pid [9271] + 12.95sINFOros2-10process started with pid [9350] + 12.95sINFOros2-11process started with pid [9351] + 12.95sINFOros2-12process started with pid [9352] + 12.95sINFOros2-13process started with pid [9353] + 12.95sINFOros2-14process started with pid [9354] + 12.95sINFOros2-15process started with pid [9355] + 12.95sINFOros2-16process started with pid [9356] + 12.95sINFOros2-17process started with pid [9357] + 12.95sINFOros2-18process started with pid [9358] + 12.95sINFOros2-19process started with pid [9359] + 12.95sINFOros2-20process started with pid [9360] + 12.98sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×3 + 12.98sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×3 + 12.99sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 12.99sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 12.99sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 12.99sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 12.99sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 12.99sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 12.99sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 12.99sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 12.99sWARNros2_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 + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555550 ms (missed cycles : 4).[0m + 13.12sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 13.13sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 13.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 13.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.15sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.15sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 13.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 13.24sINFOcomponent_container_mtRobot initialized[0m ×3 + 13.24sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 13.24sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 13.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 13.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 13.30sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 13.30sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 13.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 13.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 13.41sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 13.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 13.52sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 13.60sINFOmove_groupLoaded robot model in 0.349203 seconds[0m + 13.60sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 13.60sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 13.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 13.67sWARNscan_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 + 13.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 13.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 13.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 14.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 14.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 14.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 14.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 14.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 14.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 14.03sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 14.03sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 14.03sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 14.04sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×3 + 14.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.572914 ms (missed cycles : 11).[0m + 14.35sINFOwaypoint_manager_nodeLoaded robot model in 0.244527 seconds[0m + 14.35sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 14.35sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.46sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 14.46sWARNmove_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 + 14.46sWARNmove_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 + 14.46sWARNmove_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 + 14.46sWARNmove_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 + 14.46sWARNmove_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 + 14.46sWARNmove_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 + 14.46sWARNmove_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 + 14.46sWARNmove_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 + 14.47sWARNmove_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 + 14.47sWARNmove_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 + 14.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.84sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 14.84sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 14.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.86sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.86sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.86sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.88sWARNwaypoint_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 + 15.09sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×14 + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163430 ms (missed cycles : 2).[0m + 15.30sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 15.30sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 15.31sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 15.31sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.31sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 15.31sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 15.32sINFOmove_groupStarting planning scene monitor[0m ×3 + 15.33sINFOmove_groupListening to '/planning_scene'[0m ×3 + 15.33sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 15.33sINFOmove_groupListening to 'collision_object'[0m ×3 + 15.33sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 15.50sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 15.51sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.52sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 15.82sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 15.82sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 15.82sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 15.82sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 15.82sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 15.82sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 15.82sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 15.82sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 15.82sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 15.82sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 15.82sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 15.82sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 15.82sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 15.83sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 15.83sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 15.83sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 15.83sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 15.83sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 15.83sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 15.83sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 15.86sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 15.86sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 15.87sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_prez6ihu --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_ku9mi2s9 --params-file /tmp/launch_params_nowoa5jh [0m + 15.88sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 15.96sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 15.96sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 15.97sINFOros2_control_nodeconfigure successful[0m ×9 + 15.98sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 15.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 15.98sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 16.33sINFOros2waiting for service /controller_manager/load_controller to become available...[0m + 16.33sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 16.33sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 16.34sINFOros2-13process has finished cleanly [pid 9353] + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.48sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_prez6ihu --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_ku9mi2s9 --params-file /tmp/launch_params_nowoa5jh [0m + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622941 ms (missed cycles : 2).[0m + 16.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 16.50sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 16.51sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 16.51sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 16.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 16.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 16.57sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.57sINFOcomponent_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 + 16.60sINFOcomponent_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 + 16.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×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 + 16.60sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 16.61sINFOobjective_server_node[2026-07-17 18:31:27.462] [moveit_pro_license] [info] + 16.61sINFOobjective_server_node************************************************* ×8 + 16.61sINFOobjective_server_node* MoveIt Pro License ×4 + 16.61sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.69sINFOobjective_server_nodeLoaded robot model in 0.0257856 seconds[0m + 16.69sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 16.69sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.71sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.73sWARNcomponent_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 + 16.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 16.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 16.92sINFOros2_control_node[2026-07-17 18:31:27.766] [info] Controller state will be published at 20 Hz. + 16.92sINFOros2_control_node[2026-07-17 18:31:27.769] [info] JointVelocityController 'on_configure' succeeded. + 16.94sINFOcomponent_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 + 16.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 17.09sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 17.09sWARNobjective_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 + 17.09sWARNobjective_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 + 17.09sWARNobjective_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 + 17.09sWARNobjective_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 + 17.09sWARNobjective_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 + 17.09sWARNobjective_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 + 17.09sWARNobjective_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 + 17.09sWARNobjective_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 + 17.09sWARNobjective_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 + 17.09sWARNobjective_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 + 17.15sINFOobjective_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 + 17.15sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 17.18sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 17.18sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 17.18sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 17.18sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 17.18sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 17.18sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 17.18sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 17.19sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 17.20sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 17.20sINFOcomponent_container_mtLoaded robot model in 0.477448 seconds[0m + 17.20sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 17.20sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.24sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 17.24sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 17.25sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 17.25sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_prez6ihu --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_ku9mi2s9 --params-file /tmp/launch_params_nowoa5jh [0m + 17.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 17.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 17.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 17.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 17.26sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 17.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 17.29sINFOros2-20process has finished cleanly [pid 9360] + 17.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 17.32sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 17.32sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 17.33sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 17.33sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 17.37sINFOmove_group ×12 + 17.37sINFOmove_group******************************************************** ×6 + 17.37sINFOmove_group* MoveGroup using: ×3 + 17.37sINFOmove_group* - apply_planning_scene_service ×3 + 17.37sINFOmove_group* - clear_octomap_service ×3 + 17.37sINFOmove_group* - get_group_urdf ×3 + 17.37sINFOmove_group* - load_geometry_from_file ×3 + 17.37sINFOmove_group* - get_planning_scene_service ×3 + 17.37sINFOmove_group* - kinematics_service ×3 + 17.37sINFOmove_group* - save_geometry_to_file ×3 + 17.38sINFOmove_group* - GetPlanningGroups ×3 + 17.38sINFOmove_group* - URDFPlanningSceneCapability ×3 + 17.38sINFOmove_group[0m ×3 + 17.38sINFOmove_group[92mYou can start planning now![0m ×3 + 17.39sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115883 ms (missed cycles : 3).[0m + 17.56sWARNcomponent_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 + 17.57sWARNcomponent_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 + 17.57sWARNcomponent_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 + 17.57sWARNcomponent_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 + 17.58sWARNcomponent_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 + 17.58sWARNcomponent_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 + 17.58sWARNcomponent_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 + 17.58sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.60sWARNcomponent_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 + 17.60sWARNcomponent_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 + 17.60sWARNcomponent_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 + 17.60sWARNcomponent_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 + 17.61sWARNcomponent_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 + 17.61sWARNcomponent_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 + 17.61sWARNcomponent_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 + 17.61sWARNcomponent_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 + 17.61sWARNcomponent_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 + 17.61sWARNcomponent_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 + 17.61sWARNcomponent_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 + 17.61sWARNcomponent_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 + 17.61sWARNcomponent_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 + 17.61sWARNcomponent_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 + 17.72sINFOros2-11process has finished cleanly [pid 9351] + 17.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 17.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 17.76sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_prez6ihu --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_ku9mi2s9 --params-file /tmp/launch_params_nowoa5jh [0m + 17.78sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 17.79sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 17.79sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 17.79sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 17.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 17.81sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 18.04sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 18.04sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 18.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 18.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 18.10sINFOros2-14process has finished cleanly [pid 9354] + 18.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.23sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 18.36sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 18.36sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 18.36sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_prez6ihu --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_ku9mi2s9 --params-file /tmp/launch_params_nowoa5jh [0m + 18.40sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 18.40sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 18.41sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 18.42sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994500 ms (missed cycles : 2).[0m + 18.65sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 18.74sINFOros2-10process has finished cleanly [pid 9350] + 18.74sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 18.74sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 18.83sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_prez6ihu --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_ku9mi2s9 --params-file /tmp/launch_params_nowoa5jh [0m + 18.90sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 18.92sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 19.22sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 19.28sINFOros2_control_node[2026-07-17 18:31:30.128] [warning] No force/torque sensor configured. The VFC will ignore force references. + 19.28sINFOros2_control_node[2026-07-17 18:31:30.132] [info] Controller state will be published at 10 Hz. + 19.28sINFOros2_control_node[2026-07-17 18:31:30.133] [info] VelocityForceController 'on_configure' succeeded. + 19.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524858 ms (missed cycles : 3).[0m + 19.65sINFOros2-18process has finished cleanly [pid 9358] + 19.67sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 19.67sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 19.68sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_prez6ihu --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_ku9mi2s9 --params-file /tmp/launch_params_nowoa5jh [0m + 19.71sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 19.81sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 19.81sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 19.81sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 19.81sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 19.82sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 19.83sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 20.13sINFOros2-12process has finished cleanly [pid 9352] + 20.14sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 20.14sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 20.14sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_prez6ihu --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_ku9mi2s9 --params-file /tmp/launch_params_nowoa5jh [0m + 20.21sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 20.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257292 ms (missed cycles : 4).[0m + 20.60sINFOros2_control_node[2026-07-17 18:31:31.446] [warning] No force/torque sensor configured. The VFC will ignore force references. + 20.60sINFOros2_control_node[2026-07-17 18:31:31.449] [info] Controller state will be published at 10 Hz. + 20.60sINFOros2_control_node[2026-07-17 18:31:31.450] [info] VelocityForceController 'on_configure' succeeded. + 20.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 20.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 20.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_prez6ihu --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_ku9mi2s9 --params-file /tmp/launch_params_nowoa5jh [0m + 20.97sINFOros2-17process has finished cleanly [pid 9357] + 21.02sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 21.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 21.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 21.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 21.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_prez6ihu --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_ku9mi2s9 --params-file /tmp/launch_params_nowoa5jh [0m + 21.46sINFOros2-15process has finished cleanly [pid 9355] + 21.59sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 21.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 21.59sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 21.59sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 21.59sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 21.59sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 21.59sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 21.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 21.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.160984 ms (missed cycles : 6).[0m + 21.95sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 21.95sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 21.95sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_prez6ihu --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_ku9mi2s9 --params-file /tmp/launch_params_nowoa5jh [0m + 21.99sINFOros2-16process has finished cleanly [pid 9356] + 22.04sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 22.04sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 22.41sINFOros2_control_node[2026-07-17 18:31:33.255] [info] Controller state will be published at 20 Hz. + 22.41sINFOros2_control_node[2026-07-17 18:31:33.256] [info] JointVelocityController 'on_configure' succeeded. + 22.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 22.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 22.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689712 ms (missed cycles : 3).[0m + 22.74sINFOros2-19process has finished cleanly [pid 9359] + 23.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.782456 ms (missed cycles : 5).[0m + 24.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653304 ms (missed cycles : 3).[0m + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726694 ms (missed cycles : 2).[0m + 25.89sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×3 + 26.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080598 ms (missed cycles : 2).[0m + 27.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313098.44045734 seconds. + 27.59sINFOmove_groupClearing octomap...[0m ×4 + 27.60sINFOmove_groupOctomap cleared.[0m ×4 + 27.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313098.45072532 seconds + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620416 ms (missed cycles : 4).[0m + 28.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313099.00553107 seconds. + 28.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313099.01566291 seconds + 28.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313099.56298947 seconds. + 28.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313099.71353626 seconds + 28.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898718 ms (missed cycles : 2).[0m + 29.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313100.29584360 seconds. + 29.46sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 29.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 29.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 29.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 29.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 29.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 29.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 29.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 29.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313100.35600066 seconds + 29.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725361 ms (missed cycles : 4).[0m + 30.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313100.90761781 seconds. + 30.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 30.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 30.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 30.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 30.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551060 ms (missed cycles : 3).[0m + 31.12sINFOobjective_server_nodePlanning for 177 path waypoints. + 31.55sINFOros2_control_nodeReceived new action goal[0m ×13 + 31.55sINFOros2_control_nodeAccepted new action goal[0m ×13 + 32.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943714 ms (missed cycles : 2).[0m + 33.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.781674 ms (missed cycles : 5).[0m + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.727784 ms (missed cycles : 3).[0m + 35.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.455795 ms (missed cycles : 5).[0m + 36.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696566 ms (missed cycles : 3).[0m + 37.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807320 ms (missed cycles : 2).[0m + 38.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593205 ms (missed cycles : 4).[0m + 39.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018317 ms (missed cycles : 2).[0m + 40.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810423 ms (missed cycles : 2).[0m + 41.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145408 ms (missed cycles : 2).[0m + 42.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261838 ms (missed cycles : 4).[0m + 43.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725238 ms (missed cycles : 3).[0m + 44.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133915 ms (missed cycles : 2).[0m + 45.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004906 ms (missed cycles : 2).[0m + 46.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.588864 ms (missed cycles : 6).[0m + 47.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699357 ms (missed cycles : 3).[0m + 48.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391577 ms (missed cycles : 3).[0m + 49.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548011 ms (missed cycles : 3).[0m + 50.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710678 ms (missed cycles : 3).[0m + 51.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294194 ms (missed cycles : 5).[0m + 52.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.882677 ms (missed cycles : 4).[0m + 53.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081155 ms (missed cycles : 4).[0m + 54.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660550 ms (missed cycles : 3).[0m + 55.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844079 ms (missed cycles : 3).[0m + 56.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914195 ms (missed cycles : 5).[0m + 58.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761909 ms (missed cycles : 4).[0m + 59.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070868 ms (missed cycles : 5).[0m + 60.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.437523 ms (missed cycles : 4).[0m + 61.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878603 ms (missed cycles : 3).[0m + 62.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717219 ms (missed cycles : 2).[0m + 63.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488408 ms (missed cycles : 3).[0m + 64.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710395 ms (missed cycles : 3).[0m + 65.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722378 ms (missed cycles : 3).[0m + 66.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596061 ms (missed cycles : 5).[0m + 67.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.500160 ms (missed cycles : 6).[0m + 68.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324307 ms (missed cycles : 2).[0m + 69.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052696 ms (missed cycles : 2).[0m + 70.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893888 ms (missed cycles : 2).[0m + 71.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432017 ms (missed cycles : 3).[0m + 72.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587579 ms (missed cycles : 3).[0m + 73.23sINFOros2_control_nodeGoal reached, success![0m ×12 + 73.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784313144.10949421 seconds + 73.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036946 ms (missed cycles : 2).[0m + 73.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784313144.66251755 seconds. + 74.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261730 ms (missed cycles : 2).[0m + 74.78sINFOobjective_server_nodeFound path in 0 iterations (2.371e-05 s). + 74.78sINFOobjective_server_nodePath shortcutter: [X____X] + 74.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 75.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.798469 ms (missed cycles : 6).[0m + 76.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701512 ms (missed cycles : 3).[0m + 76.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784313147.75267553 seconds + 77.46sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784313148.30396819 seconds. + 77.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127996 ms (missed cycles : 4).[0m + 77.80sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). + 78.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917157 ms (missed cycles : 3).[0m + 79.34sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 79.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713537 ms (missed cycles : 3).[0m + 80.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221404 ms (missed cycles : 3).[0m + 81.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814631 ms (missed cycles : 2).[0m + 82.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996631 ms (missed cycles : 2).[0m + 83.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581463 ms (missed cycles : 3).[0m + 84.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606531 ms (missed cycles : 3).[0m + 85.89sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m + 85.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927655 ms (missed cycles : 4).[0m + 86.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457012 ms (missed cycles : 2).[0m + 87.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210727 ms (missed cycles : 2).[0m + 89.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915678 ms (missed cycles : 5).[0m + 90.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079403 ms (missed cycles : 3).[0m + 91.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259932 ms (missed cycles : 3).[0m + 92.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756723 ms (missed cycles : 3).[0m + 93.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764542 ms (missed cycles : 3).[0m + 94.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954745 ms (missed cycles : 6).[0m + 95.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716620 ms (missed cycles : 2).[0m + 96.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.978035 ms (missed cycles : 5).[0m + 97.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076595 ms (missed cycles : 3).[0m + 98.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541006 ms (missed cycles : 2).[0m + 99.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861639 ms (missed cycles : 3).[0m +100.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971178 ms (missed cycles : 2).[0m +101.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963089 ms (missed cycles : 2).[0m +102.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085665 ms (missed cycles : 5).[0m +103.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771491 ms (missed cycles : 3).[0m +104.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244743 ms (missed cycles : 2).[0m +105.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609243 ms (missed cycles : 3).[0m +106.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121718 ms (missed cycles : 4).[0m +107.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281095 ms (missed cycles : 2).[0m +108.11sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +108.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102200 ms (missed cycles : 3).[0m +109.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793135 ms (missed cycles : 2).[0m +110.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520576 ms (missed cycles : 3).[0m +111.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603347 ms (missed cycles : 3).[0m +112.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.724258 ms (missed cycles : 6).[0m +113.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324760 ms (missed cycles : 3).[0m +114.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889157 ms (missed cycles : 2).[0m +116.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576803 ms (missed cycles : 3).[0m +117.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.537653 ms (missed cycles : 6).[0m +118.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.151062 ms (missed cycles : 5).[0m +119.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060496 ms (missed cycles : 2).[0m +120.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128983 ms (missed cycles : 2).[0m +121.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.206979 ms (missed cycles : 6).[0m +122.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951725 ms (missed cycles : 3).[0m +123.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791393 ms (missed cycles : 5).[0m +124.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929489 ms (missed cycles : 5).[0m +125.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801059 ms (missed cycles : 3).[0m +126.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530150 ms (missed cycles : 3).[0m +127.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797906 ms (missed cycles : 3).[0m +128.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494101 ms (missed cycles : 2).[0m +129.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371326 ms (missed cycles : 3).[0m +130.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869303 ms (missed cycles : 2).[0m +131.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953325 ms (missed cycles : 2).[0m +132.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310080 ms (missed cycles : 2).[0m +133.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784313204.46688271 seconds +133.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967091 ms (missed cycles : 2).[0m +134.18sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784313205.02673769 seconds. +134.53sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 +134.56sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +134.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.142938 ms (missed cycles : 6).[0m +135.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161912 ms (missed cycles : 2).[0m +136.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251031 ms (missed cycles : 2).[0m +137.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927854 ms (missed cycles : 2).[0m +138.28sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784313209.12692666 seconds +138.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.344055 ms (missed cycles : 7).[0m +139.85sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784313210.69713497 seconds. +140.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932148 ms (missed cycles : 2).[0m +140.19sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 +141.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957003 ms (missed cycles : 2).[0m +141.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +142.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.678265 ms (missed cycles : 6).[0m +143.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291826 ms (missed cycles : 5).[0m +144.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819722 ms (missed cycles : 3).[0m +145.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204776 ms (missed cycles : 5).[0m +145.89sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m +146.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834950 ms (missed cycles : 2).[0m +147.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033750 ms (missed cycles : 3).[0m +148.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477107 ms (missed cycles : 3).[0m +149.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798881 ms (missed cycles : 3).[0m +150.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117015 ms (missed cycles : 2).[0m +151.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.529989 ms (missed cycles : 7).[0m +152.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158311 ms (missed cycles : 4).[0m +153.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688094 ms (missed cycles : 5).[0m +154.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200951 ms (missed cycles : 3).[0m +155.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.226392 ms (missed cycles : 6).[0m +156.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577294 ms (missed cycles : 3).[0m +157.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169563 ms (missed cycles : 4).[0m +158.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003778 ms (missed cycles : 2).[0m +159.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255672 ms (missed cycles : 3).[0m +160.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604189 ms (missed cycles : 3).[0m +161.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795153 ms (missed cycles : 4).[0m +162.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374859 ms (missed cycles : 2).[0m +163.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145304 ms (missed cycles : 2).[0m +164.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675025 ms (missed cycles : 2).[0m +165.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373579 ms (missed cycles : 3).[0m +166.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458244 ms (missed cycles : 3).[0m +167.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.233092 ms (missed cycles : 6).[0m +168.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595421 ms (missed cycles : 3).[0m +169.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378130 ms (missed cycles : 5).[0m +170.06sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784313240.90731835 seconds +170.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784313241.46693897 seconds. +170.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017783 ms (missed cycles : 4).[0m +171.07sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). +171.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889595 ms (missed cycles : 5).[0m +172.29sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________X] +172.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928277 ms (missed cycles : 2).[0m +174.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456706 ms (missed cycles : 3).[0m +175.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647265 ms (missed cycles : 3).[0m +176.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406431 ms (missed cycles : 3).[0m +177.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.083741 ms (missed cycles : 7).[0m +178.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578206 ms (missed cycles : 3).[0m +179.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936564 ms (missed cycles : 2).[0m +180.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338205 ms (missed cycles : 3).[0m +181.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896519 ms (missed cycles : 2).[0m +182.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718787 ms (missed cycles : 2).[0m +183.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831001 ms (missed cycles : 3).[0m +184.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891998 ms (missed cycles : 2).[0m +185.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675857 ms (missed cycles : 3).[0m +186.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955242 ms (missed cycles : 3).[0m +187.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.948689 ms (missed cycles : 6).[0m +188.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.231252 ms (missed cycles : 4).[0m +189.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609847 ms (missed cycles : 3).[0m +190.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183849 ms (missed cycles : 2).[0m +191.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968098 ms (missed cycles : 2).[0m +192.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096088 ms (missed cycles : 2).[0m +193.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806797 ms (missed cycles : 2).[0m +194.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295299 ms (missed cycles : 3).[0m +195.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484140 ms (missed cycles : 4).[0m +196.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235959 ms (missed cycles : 3).[0m +197.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776660 ms (missed cycles : 2).[0m +198.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553600 ms (missed cycles : 3).[0m +199.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668591 ms (missed cycles : 2).[0m +200.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517398 ms (missed cycles : 2).[0m +201.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946090 ms (missed cycles : 2).[0m +202.00sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. +202.01sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. +202.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784313272.85719657 seconds +202.70sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784313273.54664373 seconds. +202.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298383 ms (missed cycles : 4).[0m +203.03sINFOobjective_server_nodeFound path in 0 iterations (8.1e-07 s). +203.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731159 ms (missed cycles : 3).[0m +204.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×3 +205.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641371 ms (missed cycles : 2).[0m +205.90sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m +206.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302588 ms (missed cycles : 4).[0m +207.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.952343 ms (missed cycles : 5).[0m +208.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470354 ms (missed cycles : 3).[0m +209.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.278404 ms (missed cycles : 7).[0m +210.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854811 ms (missed cycles : 3).[0m +211.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130300 ms (missed cycles : 2).[0m +212.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.844444 ms (missed cycles : 8).[0m +213.19sINFOros2_control_nodeGot request to cancel goal[0m +213.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +213.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784313284.06747770 seconds +213.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873080 ms (missed cycles : 2).[0m +213.79sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784313284.63638592 seconds. +214.15sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). +214.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788425 ms (missed cycles : 3).[0m +215.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.002181 ms (missed cycles : 5).[0m +216.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.320248 ms (missed cycles : 4).[0m +217.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638849 ms (missed cycles : 3).[0m +218.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107037 ms (missed cycles : 2).[0m +219.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293946 ms (missed cycles : 2).[0m +220.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775630 ms (missed cycles : 3).[0m +221.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127179 ms (missed cycles : 3).[0m +222.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.000823 ms (missed cycles : 7).[0m +223.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295898 ms (missed cycles : 2).[0m +224.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.515855 ms (missed cycles : 6).[0m +225.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654515 ms (missed cycles : 3).[0m +226.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083176 ms (missed cycles : 2).[0m +227.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002498 ms (missed cycles : 5).[0m +228.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003857 ms (missed cycles : 3).[0m +229.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687875 ms (missed cycles : 3).[0m +230.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987010 ms (missed cycles : 2).[0m +231.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316272 ms (missed cycles : 2).[0m +232.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990063 ms (missed cycles : 2).[0m +233.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868444 ms (missed cycles : 3).[0m +234.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278598 ms (missed cycles : 5).[0m +236.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.749797 ms (missed cycles : 6).[0m +237.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809350 ms (missed cycles : 2).[0m +238.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192428 ms (missed cycles : 2).[0m +239.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629942 ms (missed cycles : 3).[0m +240.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.088605 ms (missed cycles : 6).[0m +241.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205896 ms (missed cycles : 2).[0m +242.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763995 ms (missed cycles : 3).[0m +242.88sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. +242.89sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. +242.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784313313.73672342 seconds +243.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915844 ms (missed cycles : 2).[0m +243.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784313314.35165906 seconds. +243.84sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). +244.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138099 ms (missed cycles : 2).[0m +245.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100723 ms (missed cycles : 2).[0m +246.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944477 ms (missed cycles : 2).[0m +247.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300647 ms (missed cycles : 3).[0m +248.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662807 ms (missed cycles : 4).[0m +249.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715645 ms (missed cycles : 2).[0m +250.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685627 ms (missed cycles : 3).[0m +251.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270510 ms (missed cycles : 2).[0m +252.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884868 ms (missed cycles : 2).[0m +253.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133834 ms (missed cycles : 2).[0m +254.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941871 ms (missed cycles : 4).[0m +255.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155274 ms (missed cycles : 2).[0m +256.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811580 ms (missed cycles : 2).[0m +257.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966209 ms (missed cycles : 2).[0m +258.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638050 ms (missed cycles : 3).[0m +259.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531691 ms (missed cycles : 3).[0m +260.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961765 ms (missed cycles : 2).[0m +261.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486475 ms (missed cycles : 4).[0m +262.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970650 ms (missed cycles : 5).[0m +263.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088245 ms (missed cycles : 2).[0m +264.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235208 ms (missed cycles : 2).[0m +265.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520521 ms (missed cycles : 3).[0m +265.90sINFOros2_control_nodeMuJoCo sim: 0.60% of iterations over time budget. Below 1% expected for non-realtime.[0m +266.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.859449 ms (missed cycles : 6).[0m +267.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025655 ms (missed cycles : 3).[0m +268.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911153 ms (missed cycles : 2).[0m +269.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.683363 ms (missed cycles : 6).[0m +271.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148501 ms (missed cycles : 2).[0m +272.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521386 ms (missed cycles : 6).[0m +273.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158755 ms (missed cycles : 3).[0m +274.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780413 ms (missed cycles : 3).[0m +275.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143248 ms (missed cycles : 3).[0m +276.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748222 ms (missed cycles : 2).[0m +277.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672745 ms (missed cycles : 3).[0m +278.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765712 ms (missed cycles : 3).[0m +279.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691442 ms (missed cycles : 2).[0m +280.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485416 ms (missed cycles : 3).[0m +281.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792093 ms (missed cycles : 3).[0m +282.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150021 ms (missed cycles : 3).[0m +283.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420895 ms (missed cycles : 2).[0m +284.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723807 ms (missed cycles : 2).[0m +285.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407069 ms (missed cycles : 2).[0m +286.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700334 ms (missed cycles : 2).[0m +287.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748480 ms (missed cycles : 2).[0m +288.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885914 ms (missed cycles : 3).[0m +289.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783550 ms (missed cycles : 2).[0m +290.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623657 ms (missed cycles : 2).[0m +291.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633891 ms (missed cycles : 3).[0m +292.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082358 ms (missed cycles : 4).[0m +293.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259545 ms (missed cycles : 2).[0m +294.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948766 ms (missed cycles : 2).[0m +295.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635181 ms (missed cycles : 3).[0m +296.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077109 ms (missed cycles : 4).[0m +297.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351467 ms (missed cycles : 4).[0m +298.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784313368.95190382 seconds +298.66sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784313369.51279402 seconds. +298.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267689 ms (missed cycles : 4).[0m +299.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933923 ms (missed cycles : 4).[0m +301.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089002 ms (missed cycles : 2).[0m +302.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781368 ms (missed cycles : 3).[0m +303.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806471 ms (missed cycles : 2).[0m +303.26sINFOobjective_server_nodeFound path in 0 iterations (8e-07 s). +303.29sINFOobjective_server_nodePath shortcutter: [X__________________X] +303.31sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). +303.34sINFOobjective_server_nodePath shortcutter: [X____________________X] +303.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). +303.43sINFOobjective_server_nodePath shortcutter: [X_________________________X] +303.60sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +303.64sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). +303.85sINFOobjective_server_nodeFound path in 98 iterations (0.0433685 s). +304.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.358390 ms (missed cycles : 6).[0m +304.16sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X____X] +304.22sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). +304.59sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +304.64sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). +304.97sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +305.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704885 ms (missed cycles : 3).[0m +305.23sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +306.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.591777 ms (missed cycles : 5).[0m +307.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.301456 ms (missed cycles : 7).[0m +308.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.160744 ms (missed cycles : 7).[0m +309.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351088 ms (missed cycles : 6).[0m +310.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.690716 ms (missed cycles : 7).[0m +311.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784313382.06122994 seconds +311.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838878 ms (missed cycles : 2).[0m +311.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784313382.65361118 seconds. +312.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784313383.14376998 seconds +312.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268086 ms (missed cycles : 5).[0m +312.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784313383.68922496 seconds. +313.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784313384.20936465 seconds +313.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775876 ms (missed cycles : 2).[0m +313.60sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +314.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.552074 ms (missed cycles : 4).[0m +315.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.190915 ms (missed cycles : 6).[0m +316.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463470 ms (missed cycles : 4).[0m +317.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322926 ms (missed cycles : 4).[0m +318.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632122 ms (missed cycles : 2).[0m +319.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188079 ms (missed cycles : 2).[0m +319.65sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.66sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.66sERRORweb_video_server-33process[web_video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.67sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.67sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.67sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.68sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.68sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.69sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] +319.71sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.71sERRORweb_video_auth_proxy-35process has died [pid 9435, 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']. +319.72sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.72sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.73sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.73sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] +319.75sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.75sERRORweb_bridge_auth_proxy-34process has died [pid 9434, 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']. +319.75sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.76sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.76sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.77sERRORfixed_lag_smoother_node-8process[fixed_lag_smoother_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.77sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.78sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.78sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.78sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.79sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.79sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.80sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +319.80sINFOweb_video_server-33sending signal 'SIGTERM' to process[web_video_server-33] +319.82sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] +319.84sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] +319.87sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] +319.89sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] +319.91sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] +319.94sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] +319.96sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] +319.99sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] +320.02sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] +320.04sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] +320.07sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system +320.07sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9432] +320.07sINFOweb_video_server-33process has finished cleanly [pid 9433] +320.08sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] +320.11sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] +320.14sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] +320.17sINFOfixed_lag_smoother_node-8sending signal 'SIGTERM' to process[fixed_lag_smoother_node-8] +320.17sERRORui_teleop_bridge-30process has died [pid 9430, 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_2xkdgd83']. +320.19sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +320.20sERRORmove_group-21process has died [pid 9363, 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_nup6qt7s --params-file /tmp/launch_params_xzebnrkt --params-file /tmp/launch_params_ltp6m4h3 --params-file /tmp/launch_params_ec584_gc --params-file /tmp/launch_params_itngeoi5 --params-file /tmp/launch_params_9hlttie7']. +320.22sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +320.22sINFOcomponent_container_mt-28process has finished cleanly [pid 9428] +320.24sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +320.24sINFOexecute_objective_bridge-29process has finished cleanly [pid 9429] +320.26sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] +320.28sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] +320.30sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +320.33sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +320.33sERRORobjective_server_node_main-26process has died [pid 9426, 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_rexurrca --params-file /tmp/launch_params_9aoiddwt --params-file /tmp/launch_params_r_np1x3a --params-file /tmp/launch_params_cbawb2v8 --params-file /tmp/launch_params_kwjc1yli --params-file /tmp/launch_params_pv_zdy6f --params-file /tmp/launch_params_t0pljweg --params-file /tmp/launch_params_v2wwku1o --params-file /tmp/launch_params_90pt90l0']. +320.33sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +320.33sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +320.33sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +320.33sERRORui_teleop_bridgeTraceback (most recent call last): +320.33sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +320.33sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +320.33sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +320.33sINFOui_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 +320.33sINFOui_teleop_bridgerclpy.shutdown() +320.33sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +320.33sINFOui_teleop_bridge_shutdown(context=context) +320.33sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +320.33sINFOui_teleop_bridgecontext.shutdown() +320.33sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +320.33sINFOui_teleop_bridgeself.__context.shutdown() +320.33sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +320.33sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +320.33sINFOobjective_server_node[0;m[0m[INFO] [2026-07-17 18:36:30.812] signal_handler(SIGINT/SIGTERM)[0m +320.33sINFOcomponent_container_mtStopping planning scene monitor[0m +320.34sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +320.34sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +320.34sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +320.34sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +320.34sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system +320.34sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +320.34sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +320.34sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +320.34sERRORmove_groupwhat(): context cannot be slept with because it's invalid +320.34sERRORmove_groupStack trace (most recent call last) in thread 9972: +320.34sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +320.34sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe14f201a63, in __clone +320.34sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe14f174aa3, in +320.34sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe14f406db3, in +320.34sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fe14fa5b1c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +320.34sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe14f7794d0, in rclcpp::Rate::sleep() +320.34sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe14f6cca88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +320.34sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe14f691a71, in +320.34sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe14f3d5390, in __cxa_throw +320.34sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe14f3bfa54, in std::terminate() +320.34sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe14f3d50d9, in +320.35sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe14f3bfff4, in +320.35sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe14f1008fe, in abort +320.35sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe14f11d27d, in raise +320.35sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe14f176b2c, in pthread_kill +320.35sERRORmove_groupAborted (Signal sent by tkill() 9363 0) +320.35sINFOobjective_server_node[2026-07-17 18:36:30.980] [moveit_pro_license] [info] +320.35sINFOobjective_server_node* Application has successfully terminated +320.35sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +320.35sINFOros2_control_nodeShutdown request received....[0m +320.35sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +320.35sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +320.35sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +320.35sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +320.35sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +320.35sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +320.35sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +320.35sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +320.35sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +320.35sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +320.35sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +320.35sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +320.35sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +320.35sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +320.35sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +320.35sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +320.35sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +320.35sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +320.35sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +320.35sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +320.35sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +320.35sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +320.35sINFOros2_control_nodeShutting down the controller manager.[0m +320.35sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +320.35sERRORobjective_server_nodeStack trace (most recent call last): +320.35sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +320.35sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e0b23c56a4, in _start +320.35sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f38e93cd28a, in __libc_start_main +320.35sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f38e93cd1d0, in +320.35sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f38e93eabbd, in exit +320.35sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f38e93eaa75, in +320.35sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f38e98b98f5, in spdlog::details::registry::~registry() +320.35sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e0b23c5d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +320.35sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e0b23cc315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +320.35sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e0b23cb5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +320.36sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e0b23c7b7b, in spdlog_ros::RosSink::~RosSink() +320.36sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e0b23c5d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +320.36sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f38e9f6f454, in rclcpp::Node::~Node() +320.36sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f38e9f2a515, in +320.36sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f38e9f6dd20, in +320.36sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f38e9f6dc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +320.36sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f38e9f2a5d9, in +320.36sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f38e9f2f161, in rclcpp::CallbackGroup::~CallbackGroup() +320.36sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f38990d0160]) +320.36sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +320.36sERRORodom_qos_relay.pyTraceback (most recent call last): +320.36sINFOodom_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> +320.36sINFOodom_qos_relay.pymain() +320.36sINFOodom_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 +320.36sINFOodom_qos_relay.pyrclpy.spin(node) +320.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +320.36sINFOodom_qos_relay.pyexecutor.spin_once() +320.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +320.36sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +320.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +320.36sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +320.36sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +320.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +320.36sINFOodom_qos_relay.pyreturn next(self._cb_iter) +320.36sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +320.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +320.36sINFOodom_qos_relay.pyraise ExternalShutdownException() +320.36sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +320.36sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m +320.36sERRORodom_world_drift.pyTraceback (most recent call last): +320.36sINFOodom_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> +320.36sINFOodom_world_drift.pymain() +320.36sINFOodom_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 +320.36sINFOodom_world_drift.pyrclpy.spin(node) +320.36sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +320.36sINFOodom_world_drift.pyexecutor.spin_once() +320.36sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +320.36sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) +320.36sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +320.36sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( +320.36sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +320.36sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +320.36sINFOodom_world_drift.pyreturn next(self._cb_iter) +320.36sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ +320.36sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +320.36sINFOodom_world_drift.pyraise ExternalShutdownException() +320.36sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException +320.37sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m +320.37sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system +320.37sINFOros2_control_nodeAsync messages lost 0[0m ×2 +320.37sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 +320.82sERRORcomponent_container_isolated-1process has died [pid 9264, 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_7l4ve0m_ --params-file /tmp/launch_params_ik2frhew -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +321.05sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9406] +321.07sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9403] +321.14sINFOparameter_manager_node-22process has finished cleanly [pid 9367] +321.16sINFOwaypoint_manager_node-23process has finished cleanly [pid 9371] +321.18sINFOcomponent_container_mt-27process has finished cleanly [pid 9427] +321.23sINFOfixed_lag_smoother_node-8process has finished cleanly [pid 9271] +321.24sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9270] +321.26sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9269] +321.30sINFOslip_aware_odom-4process has finished cleanly [pid 9267] +321.34sERRORodom_qos_relay.py-5process has died [pid 9268, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. +321.35sINFOstatic_transform_publisher-2process has finished cleanly [pid 9265] +322.37sERRORodom_world_drift.py-3process has died [pid 9266, 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']. +322.74sINFOweb_bridge-31process has finished cleanly [pid 9431] +322.74sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system +322.96sINFOros2_control_node-9process has finished cleanly [pid 9272] +330.82sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-17-18-36-38-502888-d01c09d08dba-13326 ×2 +343.55sINFOstatic_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' +343.66sINFOstate_estimatorReceived a set_pose request (stamp: 1784313414510402838, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +343.67sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +343.69sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +343.70sINFOcontroller_managerupdate rate is 600 Hz +343.70sINFOcontroller_managerOverruns handling is : enabled +343.70sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +343.70sWARNcontroller_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. +343.76sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. +343.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +343.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717910 ms (missed cycles : 2). +343.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +343.80sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +343.83sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +343.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +343.87sINFOros2_control_node-9process started with pid [13384] ×2 +343.87sINFOmove_group-21process started with pid [13474] ×2 +343.87sINFOparameter_manager_node-22process started with pid [13475] ×2 +343.87sINFOwaypoint_manager_node-23process started with pid [13476] ×2 +343.87sINFOmove_joint_resampler_node-24process started with pid [13531] ×2 +343.87sINFOmove_end_effector_resampler_node-25process started with pid [13532] ×2 +343.87sINFOobjective_server_node_main-26process started with pid [13533] ×2 +343.87sINFOcomponent_container_mt-27process started with pid [13536] ×2 +343.87sINFOcomponent_container_mt-28process started with pid [13537] ×2 +343.87sINFOexecute_objective_bridge-29process started with pid [13538] ×2 +343.87sINFOui_teleop_bridge-30process started with pid [13539] ×2 +343.87sINFOweb_bridge-31process started with pid [13540] ×2 +343.87sINFOtf2_web_republisher_node-32process started with pid [13541] ×2 +343.87sINFOweb_video_server-33process started with pid [13542] ×2 +343.87sINFOweb_bridge_auth_proxy-34process started with pid [13543] ×2 +343.87sINFOweb_video_auth_proxy-35process started with pid [13548] ×2 +343.88sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +343.88sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +343.89sINFOcontroller_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. +343.90sINFOcomponent_container_isolated-1process started with pid [13376] ×2 +343.90sINFOstatic_transform_publisher-2process started with pid [13377] ×2 +343.90sINFOodom_world_drift.py-3process started with pid [13378] ×2 +343.91sINFOslip_aware_odom-4process started with pid [13379] ×2 +343.91sINFOodom_qos_relay.py-5process started with pid [13380] ×2 +343.91sINFOscan_to_scan_filter_chain-6process started with pid [13381] ×2 +343.91sINFOscan_to_scan_filter_chain-7process started with pid [13382] ×2 +343.91sINFOfixed_lag_smoother_node-8process started with pid [13383] ×2 +343.91sINFOros2-10process started with pid [13462] ×2 +343.91sINFOros2-11process started with pid [13463] ×2 +343.91sINFOros2-12process started with pid [13464] ×2 +343.91sINFOros2-13process started with pid [13465] ×2 +343.91sINFOros2-14process started with pid [13466] ×2 +343.91sINFOros2-15process started with pid [13467] ×2 +343.91sINFOros2-16process started with pid [13468] ×2 +343.91sINFOros2-17process started with pid [13469] ×2 +343.91sINFOros2-18process started with pid [13471] ×2 +343.91sINFOros2-19process started with pid [13472] ×2 +343.91sINFOros2-20process started with pid [13473] ×2 +343.95sINFOcontroller_serverCreating controller server +343.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717910 ms (missed cycles : 2).[0m ×2 +344.00sINFOlocal_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. +344.00sINFOlocal_costmap.local_costmapCreating Costmap +344.03sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +344.04sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +344.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +344.06sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +344.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +344.08sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +344.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +344.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +344.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +344.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +344.13sINFOmap_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. +344.13sINFOmap_serverCreating +344.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +344.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +344.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +344.17sINFOrobot_state_publisherRobot initialized +344.17sINFOcontroller_managerReceived robot description from topic. +344.17sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +344.17sINFOsmoother_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. +344.19sINFOsmoother_serverCreating smoother server +344.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +344.19sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +344.20sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +344.20sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +344.21sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +344.26sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +344.28sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +344.28sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +344.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +344.28sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +344.32sINFOplanner_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. +344.33sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +344.35sINFOplanner_serverCreating +344.37sINFOglobal_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. +344.40sINFOglobal_costmap.global_costmapCreating Costmap +344.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +344.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +344.42sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +344.44sINFOlifecycle_manager_localizationCreating +344.46sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +344.48sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +344.48sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +344.48sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +344.48sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +344.48sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +344.48sINFOmap_serverConfiguring +344.52sINFObehavior_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. +344.54sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +344.56sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.334001 seconds +344.56sINFOmove_groupLoaded robot model in 0.334001 seconds[0m ×2 +344.56sWARNlaser_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. +344.56sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +344.56sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +344.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +344.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +344.57sWARNlaser_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. +344.58sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +344.58sINFOamclConfiguring +344.59sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +344.59sINFOmap_serverActivating +344.59sINFOmap_serverCreating bond (map_server) to lifecycle manager. +344.62sINFObt_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. +344.63sINFObt_navigatorCreating +344.66sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +344.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +344.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +344.70sINFOwaypoint_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. +344.70sINFOwaypoint_followerCreating +344.70sINFOlifecycle_manager_localizationServer map_server connected with bond. +344.70sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +344.70sINFOamclActivating +344.71sINFOamclSubscribed to initial_pose_topic: /initialpose +344.71sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +344.72sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +344.72sINFOamclSubscribed to map_topic: /map +344.73sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +344.73sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +344.73sINFOamclSubscribed to scan_topic: /scan_merged +344.74sINFOamclCreated reinitialize_global_localization service +344.74sINFOamclCreated request_nomotion_update service +344.74sINFOamclA new map was received +344.74sINFOamclInitializing particle filter instance +344.79sINFOvelocity_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. +344.83sINFOlifecycle_manager_navigationCreating +344.83sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +344.86sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +344.86sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +344.86sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +344.86sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +344.86sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +344.86sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +344.86sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +344.86sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +344.86sINFOcontroller_serverConfiguring controller interface +344.86sINFOcontroller_servergetting progress checker plugins.. +344.86sINFOcontroller_servergetting goal checker plugins.. +344.86sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +344.86sINFOcontroller_serverController frequency set to 20.0000Hz +344.86sINFOlocal_costmap.local_costmapConfiguring +344.86sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +344.86sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 +344.87sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +344.89sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +344.93sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +344.93sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +344.94sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +344.97sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +344.98sINFOcontroller_serverController Server has progress_checker progress checkers available. +344.98sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +344.99sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +344.99sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +345.02sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +345.03sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +345.03sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +345.05sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +345.05sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +345.05sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +345.05sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +345.06sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +345.06sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +345.07sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +345.07sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +345.07sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +345.09sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +345.09sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +345.09sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +345.09sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +345.10sINFOcontroller_serverOptimizer reset +345.12sINFOcontroller_serverController Server has FollowPath controllers available. +345.14sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +345.14sINFOsmoother_serverConfiguring smoother server +345.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973544 ms (missed cycles : 2). +345.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973544 ms (missed cycles : 2).[0m ×2 +345.15sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +345.16sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +345.18sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +345.18sINFOplanner_serverConfiguring +345.18sINFOglobal_costmap.global_costmapConfiguring +345.20sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +345.20sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +345.20sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +345.20sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +345.21sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +345.27sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +345.27sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +345.27sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +345.31sFATALplanner_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 +345.31sINFOplanner_serverCleaning up +345.31sINFOglobal_costmap.global_costmapCleaning up +345.32sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +345.40sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +345.40sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +345.42sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +345.42sWARNmove_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. +345.42sWARNmove_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. +345.42sWARNmove_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. +345.42sWARNmove_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. +345.42sWARNmove_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. +345.43sWARNmove_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. +345.43sWARNmove_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. +345.43sWARNmove_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. +345.44sWARNmove_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. +345.44sWARNmove_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. +345.50sINFOwaypoint_manager_nodeLoaded robot model in 0.490934 seconds[0m ×2 +345.62sINFOamclParticle filter initialization completed +345.62sINFOamclInitializing particles from estimated pose and covariance +345.62sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 +345.72sINFOlifecycle_manager_localizationServer amcl connected with bond. +345.72sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +345.72sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +345.73sINFOamclThe bond connection to the lifecycle manager is now fully formed +345.97sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... +346.06sWARNwaypoint_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. +346.06sWARNwaypoint_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. +346.06sWARNwaypoint_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. +346.06sWARNwaypoint_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. +346.06sWARNwaypoint_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. +346.06sWARNwaypoint_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. +346.06sWARNwaypoint_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. +346.06sWARNwaypoint_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. +346.07sWARNwaypoint_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. +346.07sWARNwaypoint_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. +346.07sWARNwaypoint_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. +346.07sWARNwaypoint_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. +346.07sWARNwaypoint_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. +346.07sWARNwaypoint_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. +346.07sWARNwaypoint_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. +346.08sWARNwaypoint_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. +346.08sWARNwaypoint_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. +346.08sWARNwaypoint_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. +346.08sWARNwaypoint_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. +346.08sWARNwaypoint_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. +346.08sWARNwaypoint_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. +346.08sWARNwaypoint_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. +346.08sWARNwaypoint_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. +346.08sWARNwaypoint_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. +346.08sWARNwaypoint_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. +346.08sWARNwaypoint_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. +346.08sWARNwaypoint_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. +346.08sWARNwaypoint_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. +346.09sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +346.09sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +346.16sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +346.16sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +346.16sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +346.16sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +346.16sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +346.16sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +346.16sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +346.16sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +346.16sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +346.16sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +346.17sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +346.79sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +346.79sINFOcontroller_managerActivating component 'ur_mujoco_control'. +346.79sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +346.79sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +346.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087073 ms (missed cycles : 2). +346.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087073 ms (missed cycles : 2).[0m ×2 +346.82sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +346.82sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +346.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +346.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +346.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +346.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +346.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +346.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +346.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +346.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +346.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +346.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +346.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +346.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +346.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +346.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +346.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +346.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +346.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +346.90sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +346.93sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +346.97sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +346.97sINFOcontroller_managerLoading controller 'vacuum_gripper' +346.97sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n +346.98sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n [0m ×2 +347.00sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +347.00sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +347.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +347.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +347.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +347.01sINFOcontroller_managerSuccessfully switched controllers! ×8 +347.02sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +347.03sINFOobjective_server_node[2026-07-17 18:36:57.875] [moveit_pro_license] [info] ×2 +347.12sINFOobjective_server_nodeLoaded robot model in 0.0209128 seconds[0m ×2 +347.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +347.13sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +347.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +347.25sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +347.29sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +347.29sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +347.30sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +347.30sINFOstreaming_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) +347.30sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +347.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +347.37sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +347.37sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n +347.37sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n [0m ×2 +347.43sINFOros2-14process has finished cleanly [pid 13466] ×2 +347.46sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +347.47sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +347.48sINFOplatform_velocity_controller_nav2configure successful +347.51sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +347.51sWARNobjective_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. +347.51sWARNobjective_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. +347.51sWARNobjective_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. +347.51sWARNobjective_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. +347.51sWARNobjective_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. +347.51sWARNobjective_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. +347.52sWARNobjective_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. +347.52sWARNobjective_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. +347.52sWARNobjective_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. +347.52sWARNobjective_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. +347.54sINFOcomponent_container_mtLoaded robot model in 0.398408 seconds[0m ×2 +347.54sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +347.54sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +347.57sINFOstreaming_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) +347.69sINFOmove_groupMoveGroup debug mode is ON +347.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.942075 ms (missed cycles : 10). +347.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.942075 ms (missed cycles : 10).[0m ×2 +347.84sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +347.84sINFOcontroller_managerLoading controller 'platform_velocity_controller' +347.84sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n +347.85sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n [0m ×2 +347.86sINFOros2-15process has finished cleanly [pid 13467] ×2 +347.89sINFOmove_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
********************************************************
+347.92sWARNplanning_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. +347.92sWARNplanning_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. +347.92sWARNplanning_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. +347.92sWARNplanning_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. +347.92sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +347.92sWARNplanning_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. +347.92sWARNplanning_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. +347.93sWARNplanning_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. +347.93sWARNplanning_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. +347.93sWARNplanning_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. +347.93sWARNplanning_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. +347.93sWARNplanning_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. +347.93sWARNplanning_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. +347.93sWARNplanning_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. +347.93sWARNplanning_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. +347.93sWARNplanning_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. +347.93sWARNplanning_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. +347.93sWARNplanning_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. +347.93sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +347.93sWARNplanning_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. +347.94sWARNplanning_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. +347.94sWARNplanning_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. +347.94sWARNplanning_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. +347.94sWARNplanning_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. +347.94sWARNplanning_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. +347.94sWARNplanning_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. +347.94sWARNplanning_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. +347.94sWARNplanning_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. +347.94sWARNplanning_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. +347.94sWARNplanning_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. +347.95sINFOplatform_velocity_controllerconfigure successful +347.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +347.96sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +348.02sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784313417.758 for reason 'discarding message because the queue is full' +348.08sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +348.26sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +348.26sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +348.27sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n +348.27sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n [0m ×2 +348.32sINFOros2-13process has finished cleanly [pid 13465] ×2 +348.44sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +348.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +348.44sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +348.44sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +348.44sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +348.44sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +348.45sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +348.76sINFOros2-16process has finished cleanly [pid 13468] ×2 +348.80sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +348.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309708 ms (missed cycles : 4). +348.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309708 ms (missed cycles : 4).[0m ×2 +349.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +349.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +349.05sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n +349.05sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n [0m ×2 +349.09sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +349.09sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +349.10sINFOforce_torque_sensor_broadcasterconfigure successful +349.10sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +349.11sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +349.43sINFOros2-10process has finished cleanly [pid 13462] ×2 +349.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +349.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +349.58sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n +349.59sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n [0m ×2 +349.66sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +349.66sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +349.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158482 ms (missed cycles : 5). +349.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158482 ms (missed cycles : 5).[0m ×2 +350.00sINFOros2_control_node[2026-07-17 18:37:00.851] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +350.01sINFOros2_control_node[2026-07-17 18:37:00.856] [info] Controller state will be published at 10 Hz. ×2 +350.01sINFOros2_control_node[2026-07-17 18:37:00.857] [info] VelocityForceController 'on_configure' succeeded. ×2 +350.37sINFOros2-18process has finished cleanly [pid 13471] ×2 +350.39sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +350.39sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +350.39sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +350.48sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n +350.48sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n [0m ×2 +350.52sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +350.52sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +350.61sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784313420.358 for reason 'discarding message because the queue is full' +350.88sINFOros2_control_node[2026-07-17 18:37:01.728] [info] Controller state will be published at 20 Hz. ×2 +350.88sINFOros2_control_node[2026-07-17 18:37:01.729] [info] JointVelocityController 'on_configure' succeeded. ×2 +351.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598076 ms (missed cycles : 2). +351.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598076 ms (missed cycles : 2).[0m ×2 +351.26sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +351.26sINFOros2-20process has finished cleanly [pid 13473] ×2 +351.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +351.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' +351.27sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n +351.27sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n [0m ×2 +351.30sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +351.30sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +351.62sINFOros2_control_node[2026-07-17 18:37:02.469] [info] Controller state will be published at 20 Hz. ×2 +351.62sINFOros2_control_node[2026-07-17 18:37:02.470] [info] JointVelocityController 'on_configure' succeeded. ×2 +351.97sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +351.97sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +351.97sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n +351.97sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n [0m ×2 +351.98sINFOros2-19process has finished cleanly [pid 13472] ×2 +352.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.640741 ms (missed cycles : 6). +352.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.640741 ms (missed cycles : 6).[0m ×2 +352.04sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +352.05sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +352.05sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +352.06sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +352.41sINFOros2-11process has finished cleanly [pid 13463] ×2 +352.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +352.67sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +352.67sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +352.67sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n +352.67sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n [0m ×2 +352.70sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +352.70sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +352.70sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +352.70sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +352.70sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +352.72sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +352.72sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +352.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.184ms +353.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068394 ms (missed cycles : 2). +353.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068394 ms (missed cycles : 2).[0m ×2 +353.05sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +353.05sINFOcontroller_managerLoading controller 'velocity_force_controller' +353.05sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n +353.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_03stqb_9 --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_q4lysn67 --params-file /tmp/launch_params_p1oi5g6n [0m ×2 +353.08sINFOros2-12process has finished cleanly [pid 13464] ×2 +353.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +353.12sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784313422.858 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +353.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +353.50sINFOros2_control_node[2026-07-17 18:37:04.352] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +353.51sINFOros2_control_node[2026-07-17 18:37:04.355] [info] Controller state will be published at 10 Hz. ×2 +353.51sINFOros2_control_node[2026-07-17 18:37:04.356] [info] VelocityForceController 'on_configure' succeeded. ×2 +353.86sINFOros2-17process has finished cleanly [pid 13469] ×2 +354.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302370 ms (missed cycles : 4). +354.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302370 ms (missed cycles : 4).[0m ×2 +355.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.566614 ms (missed cycles : 6). +355.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.566614 ms (missed cycles : 6).[0m ×2 +356.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2). +356.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2).[0m ×2 +357.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). +357.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 +358.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). +358.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 +358.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 +358.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +358.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +358.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 +359.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). +359.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 +359.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 +359.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 +359.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 +360.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 +360.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). +360.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 +360.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 +360.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +360.64sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +360.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +360.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +360.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +360.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +360.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 +361.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 +361.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +361.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +361.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +361.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). +361.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 | ||||
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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 · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/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 1.704649 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 0.82% 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 6.313769 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 4.49sINFOobjective_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 + 4.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[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 9.566614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.566614 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 6.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[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 9.566614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.566614 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 6.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 7.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.566614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.566614 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 6.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 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 9.566614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.566614 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 6.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 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 9.566614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.566614 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 6.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.566614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.566614 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 6.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 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 1.704649 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704649 ms (missed cycles : 2).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 0.82% 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 6.313769 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 4.49sINFOobjective_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 + 4.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 6.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_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 · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_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 · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162296 ms (missed cycles : 5). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162296 ms (missed cycles : 5).[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 · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_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 · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313769 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765747 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784313429.60728073 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784313429.61750817 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784313430.17198491 seconds. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784313430.18207765 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784313430.73123574 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784313430.88351583 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952205 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784313431.47101474 seconds. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784313431.54115939 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784313432.09291482 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757611 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720237 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||