69
Total objective tests
15
Objectives passed
2
Objectives failed
52
Objectives skipped
19.4s
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 | 34.5s | 6 errors · 120 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799127 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799127 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078758 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078758 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454366 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454366 ms (missed cycles : 3).[0m ×2 + 3.05sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.05sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.10sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784314741.93911839 seconds ×3 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.186129 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.186129 ms (missed cycles : 5).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 3.37sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 1.857ms + 3.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784314742.50011158 seconds. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851676 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851676 ms (missed cycles : 3).[0m ×2 + 4.45sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.229ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822111 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822111 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.28sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.28sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112820 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112820 ms (missed cycles : 2).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214151 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214151 ms (missed cycles : 3).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990233 ms (missed cycles : 3). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990233 ms (missed cycles : 3).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737393 ms (missed cycles : 3). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737393 ms (missed cycles : 3).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643032 ms (missed cycles : 4). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643032 ms (missed cycles : 4).[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276121 ms (missed cycles : 3). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276121 ms (missed cycles : 3).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383832 ms (missed cycles : 3). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383832 ms (missed cycles : 3).[0m ×2 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646312 ms (missed cycles : 3). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646312 ms (missed cycles : 3).[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536428 ms (missed cycles : 4). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536428 ms (missed cycles : 4).[0m ×2 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202557 ms (missed cycles : 2). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202557 ms (missed cycles : 2).[0m ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207706 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207706 ms (missed cycles : 2).[0m ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882696 ms (missed cycles : 2). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882696 ms (missed cycles : 2).[0m ×2 + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.710288 ms (missed cycles : 7). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.710288 ms (missed cycles : 7).[0m ×2 + 19.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077844 ms (missed cycles : 3). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077844 ms (missed cycles : 3).[0m ×2 + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810522 ms (missed cycles : 3). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810522 ms (missed cycles : 3).[0m ×2 + 21.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071084 ms (missed cycles : 3). + 21.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071084 ms (missed cycles : 3).[0m ×2 + 22.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663892 ms (missed cycles : 2). + 22.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663892 ms (missed cycles : 2).[0m ×2 + 23.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.152292 ms (missed cycles : 5). + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.152292 ms (missed cycles : 5).[0m ×2 + 24.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148140 ms (missed cycles : 3). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148140 ms (missed cycles : 3).[0m ×2 + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638682 ms (missed cycles : 4). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638682 ms (missed cycles : 4).[0m ×2 + 26.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194128 ms (missed cycles : 2). + 26.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194128 ms (missed cycles : 2).[0m ×2 + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792922 ms (missed cycles : 3). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792922 ms (missed cycles : 3).[0m ×2 + 27.96sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.603ms + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268206 ms (missed cycles : 2). + 28.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268206 ms (missed cycles : 2).[0m ×2 + 29.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494109 ms (missed cycles : 2). + 29.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494109 ms (missed cycles : 2).[0m ×2 + 30.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322073 ms (missed cycles : 2). + 30.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322073 ms (missed cycles : 2).[0m ×2 + 31.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982483 ms (missed cycles : 2). + 31.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982483 ms (missed cycles : 2).[0m ×2 + 33.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219837 ms (missed cycles : 2). + 33.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219837 ms (missed cycles : 2).[0m ×2 + 34.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948378 ms (missed cycles : 5). + 34.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948378 ms (missed cycles : 5).[0m ×2 + 35.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413382 ms (missed cycles : 2). + 35.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413382 ms (missed cycles : 2).[0m ×2 + 36.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.687660 ms (missed cycles : 6). + 36.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.687660 ms (missed cycles : 6).[0m ×2 + 37.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810650 ms (missed cycles : 3). + 37.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810650 ms (missed cycles : 3).[0m ×2 + 37.65sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 5 seconds. ×3 + 37.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784314776.49033141 seconds ×3 + 38.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712707 ms (missed cycles : 2). + 38.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712707 ms (missed cycles : 2).[0m ×2 + 38.32sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784314777.16015506 seconds. ×3 + 38.65sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 38.77sINFOros2_control_nodeMuJoCo sim: 0.77% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200839 ms (missed cycles : 5). + 39.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200839 ms (missed cycles : 5).[0m ×2 + 39.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 40.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.198ms + 40.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549852 ms (missed cycles : 3). + 40.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549852 ms (missed cycles : 3).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 30.3s | 9 errors · 108 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817097 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817097 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595198 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595198 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319437 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319437 ms (missed cycles : 2).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGot request to cancel goal + 2.90sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.90sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784314787.46101713 seconds ×3 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.263ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055052 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055052 ms (missed cycles : 2).[0m ×2 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.169ms + 3.49sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784314788.01875544 seconds. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807435 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807435 ms (missed cycles : 4).[0m ×2 + 4.87sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.871ms + 5.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.16sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.16sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.639481 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.639481 ms (missed cycles : 6).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344876 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344876 ms (missed cycles : 3).[0m ×2 + 6.68sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.276ms + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.924807 ms (missed cycles : 6). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.924807 ms (missed cycles : 6).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925286 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925286 ms (missed cycles : 3).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044578 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044578 ms (missed cycles : 2).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731226 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731226 ms (missed cycles : 3).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304555 ms (missed cycles : 2). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304555 ms (missed cycles : 2).[0m ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884828 ms (missed cycles : 3). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884828 ms (missed cycles : 3).[0m ×2 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540206 ms (missed cycles : 4). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540206 ms (missed cycles : 4).[0m ×2 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037740 ms (missed cycles : 3). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037740 ms (missed cycles : 3).[0m ×2 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381385 ms (missed cycles : 3). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381385 ms (missed cycles : 3).[0m ×2 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682672 ms (missed cycles : 2). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682672 ms (missed cycles : 2).[0m ×2 + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223352 ms (missed cycles : 2). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223352 ms (missed cycles : 2).[0m ×2 + 18.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376104 ms (missed cycles : 3). + 18.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376104 ms (missed cycles : 3).[0m ×2 + 19.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324597 ms (missed cycles : 2). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324597 ms (missed cycles : 2).[0m ×2 + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243636 ms (missed cycles : 2). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243636 ms (missed cycles : 2).[0m ×2 + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905170 ms (missed cycles : 6). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905170 ms (missed cycles : 6).[0m ×2 + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096196 ms (missed cycles : 2). + 22.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096196 ms (missed cycles : 2).[0m ×2 + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.691863 ms (missed cycles : 4). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.691863 ms (missed cycles : 4).[0m ×2 + 24.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264613 ms (missed cycles : 4). + 24.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264613 ms (missed cycles : 4).[0m ×2 + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187084 ms (missed cycles : 2). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187084 ms (missed cycles : 2).[0m ×2 + 26.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755988 ms (missed cycles : 2). + 26.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755988 ms (missed cycles : 2).[0m ×2 + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.515566 ms (missed cycles : 4). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.515566 ms (missed cycles : 4).[0m ×2 + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889748 ms (missed cycles : 3). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889748 ms (missed cycles : 3).[0m ×2 + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2).[0m ×2 + 31.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2). + 31.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2).[0m ×2 + 32.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2). + 32.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2).[0m ×2 + 32.45sINFOjoint_trajectory_controllerGoal reached, success! + 32.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 33.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4). + 33.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4).[0m ×2 + 33.20sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 33.21sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 33.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784314817.73894310 seconds ×3 + 33.82sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784314818.35241795 seconds. ×3 + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2).[0m ×2 + 34.19sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 35.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5). + 35.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5).[0m ×2 + 35.35sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.413ms + 36.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3). + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.8s | 186 warnings · 117 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.01sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784314645.19176793 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660428 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660428 ms (missed cycles : 3).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms ×2 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784314645.75251818 seconds. ×3 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549361 ms (missed cycles : 3). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549361 ms (missed cycles : 3).[0m ×2 + 1.53sINFOobjective_server_nodeFound path in 0 iterations (3.4381e-05 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.55sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.55sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.55sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.55sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444666 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444666 ms (missed cycles : 4).[0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367751 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367751 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784314648.79267621 seconds ×3 + 4.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 4.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784314649.34711647 seconds. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250721 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250721 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972971 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972971 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924123 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924123 ms (missed cycles : 3).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391435 ms (missed cycles : 4). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391435 ms (missed cycles : 4).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117692 ms (missed cycles : 5). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117692 ms (missed cycles : 5).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040952 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040952 ms (missed cycles : 2).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875936 ms (missed cycles : 4). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875936 ms (missed cycles : 4).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223198 ms (missed cycles : 3). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223198 ms (missed cycles : 3).[0m ×2 + 12.46sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.384217 ms (missed cycles : 7). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.384217 ms (missed cycles : 7).[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818346 ms (missed cycles : 4). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818346 ms (missed cycles : 4).[0m ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911790 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911790 ms (missed cycles : 2).[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.865741 ms (missed cycles : 6). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.865741 ms (missed cycles : 6).[0m ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726817 ms (missed cycles : 4). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726817 ms (missed cycles : 4).[0m ×2 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392309 ms (missed cycles : 2). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392309 ms (missed cycles : 2).[0m ×2 + 19.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281045 ms (missed cycles : 2). + 19.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281045 ms (missed cycles : 2).[0m ×2 + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757855 ms (missed cycles : 6). + 20.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757855 ms (missed cycles : 6).[0m ×2 + 21.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185563 ms (missed cycles : 2). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185563 ms (missed cycles : 2).[0m ×2 + 22.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083978 ms (missed cycles : 3). + 22.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083978 ms (missed cycles : 3).[0m ×2 + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415236 ms (missed cycles : 2). + 23.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415236 ms (missed cycles : 2).[0m ×2 + 24.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157671 ms (missed cycles : 6). + 24.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157671 ms (missed cycles : 6).[0m ×2 + 25.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898967 ms (missed cycles : 2). + 25.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898967 ms (missed cycles : 2).[0m ×2 + 26.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616892 ms (missed cycles : 3). + 26.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616892 ms (missed cycles : 3).[0m ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415783 ms (missed cycles : 4). + 27.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415783 ms (missed cycles : 4).[0m ×2 + 28.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659424 ms (missed cycles : 4). + 28.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659424 ms (missed cycles : 4).[0m ×2 + 29.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892025 ms (missed cycles : 2). + 29.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892025 ms (missed cycles : 2).[0m ×2 + 30.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660120 ms (missed cycles : 3). + 30.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660120 ms (missed cycles : 3).[0m ×2 + 31.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017936 ms (missed cycles : 3). + 31.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017936 ms (missed cycles : 3).[0m ×2 + 32.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967275 ms (missed cycles : 3). + 32.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967275 ms (missed cycles : 3).[0m ×2 + 33.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480305 ms (missed cycles : 3). + 33.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480305 ms (missed cycles : 3).[0m ×2 + 34.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.698609 ms (missed cycles : 6). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.698609 ms (missed cycles : 6).[0m ×2 + 34.81sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449362 ms (missed cycles : 4). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449362 ms (missed cycles : 4).[0m ×2 + 36.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071825 ms (missed cycles : 4). + 36.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071825 ms (missed cycles : 4).[0m ×2 + 37.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833645 ms (missed cycles : 3). + 37.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833645 ms (missed cycles : 3).[0m ×2 + 38.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.472476 ms (missed cycles : 4). + 38.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.472476 ms (missed cycles : 4).[0m ×2 + 39.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808228 ms (missed cycles : 3). + 39.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808228 ms (missed cycles : 3).[0m ×2 + 40.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 40.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819226 ms (missed cycles : 3). + 40.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819226 ms (missed cycles : 3).[0m ×2 + 41.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 41.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969835 ms (missed cycles : 2). + 41.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969835 ms (missed cycles : 2).[0m ×2 + 42.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783749 ms (missed cycles : 4). + 42.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783749 ms (missed cycles : 4).[0m ×2 + 43.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147091 ms (missed cycles : 2). + 43.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147091 ms (missed cycles : 2).[0m ×2 + 44.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 44.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770775 ms (missed cycles : 2). + 44.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770775 ms (missed cycles : 2).[0m ×2 + 45.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531325 ms (missed cycles : 4). + 45.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531325 ms (missed cycles : 4).[0m ×2 + 46.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093385 ms (missed cycles : 5). + 46.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093385 ms (missed cycles : 5).[0m ×2 + 47.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408443 ms (missed cycles : 3). + 47.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408443 ms (missed cycles : 3).[0m ×2 + 48.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 49.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.059346 ms (missed cycles : 5). + 49.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.059346 ms (missed cycles : 5).[0m ×2 + 50.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284654 ms (missed cycles : 2). + 50.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284654 ms (missed cycles : 2).[0m ×2 + 51.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791807 ms (missed cycles : 3). + 51.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791807 ms (missed cycles : 3).[0m ×2 + 52.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.136974 ms (missed cycles : 5). + 52.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.136974 ms (missed cycles : 5).[0m ×2 + 52.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 53.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995893 ms (missed cycles : 3). + 53.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995893 ms (missed cycles : 3).[0m ×2 + 54.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080135 ms (missed cycles : 3). + 54.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080135 ms (missed cycles : 3).[0m ×2 + 54.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 55.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.059167 ms (missed cycles : 6). + 55.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.059167 ms (missed cycles : 6).[0m ×2 + 55.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 56.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767658 ms (missed cycles : 2). + 56.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767658 ms (missed cycles : 2).[0m ×2 + 57.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231935 ms (missed cycles : 2). + 57.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231935 ms (missed cycles : 2).[0m ×2 + 58.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040380 ms (missed cycles : 2). + 58.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040380 ms (missed cycles : 2).[0m ×2 + 58.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 59.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711685 ms (missed cycles : 2). + 59.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711685 ms (missed cycles : 2).[0m ×2 + 60.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009097 ms (missed cycles : 3). + 60.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009097 ms (missed cycles : 3).[0m ×2 + 60.43sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784314705.56726742 seconds ×3 + 60.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 60.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 60.99sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784314706.13054585 seconds. ×3 + 61.33sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 61.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 61.35sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365411 ms (missed cycles : 3). + 61.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365411 ms (missed cycles : 3).[0m ×2 + 62.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749205 ms (missed cycles : 2). + 62.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749205 ms (missed cycles : 2).[0m ×2 + 63.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789294 ms (missed cycles : 3). + 63.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789294 ms (missed cycles : 3).[0m ×2 + 63.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.1s | 6 errors · 177 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.42sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.18sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784314817.73894310 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784314818.35241795 seconds. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.413ms + 5.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.40sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.40sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3).[0m ×2 + 6.95sINFOamclParticle filter update iteration stats: 1640 particles 723 points - 2.481ms + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444027 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444027 ms (missed cycles : 3).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.365404 ms (missed cycles : 4). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.365404 ms (missed cycles : 4).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925284 ms (missed cycles : 3). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925284 ms (missed cycles : 3).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527446 ms (missed cycles : 4). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527446 ms (missed cycles : 4).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637455 ms (missed cycles : 4). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637455 ms (missed cycles : 4).[0m ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682146 ms (missed cycles : 2). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682146 ms (missed cycles : 2).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608686 ms (missed cycles : 4). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608686 ms (missed cycles : 4).[0m ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393781 ms (missed cycles : 3). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393781 ms (missed cycles : 3).[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.824003 ms (missed cycles : 6). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.824003 ms (missed cycles : 6).[0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506241 ms (missed cycles : 4). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506241 ms (missed cycles : 4).[0m ×2 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824839 ms (missed cycles : 3). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824839 ms (missed cycles : 3).[0m ×2 + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263470 ms (missed cycles : 2). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263470 ms (missed cycles : 2).[0m ×2 + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217119 ms (missed cycles : 5). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217119 ms (missed cycles : 5).[0m ×2 + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698390 ms (missed cycles : 2). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698390 ms (missed cycles : 2).[0m ×2 + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437380 ms (missed cycles : 4). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437380 ms (missed cycles : 4).[0m ×2 + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748406 ms (missed cycles : 6). + 22.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748406 ms (missed cycles : 6).[0m ×2 + 23.06sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863178 ms (missed cycles : 3). + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863178 ms (missed cycles : 3).[0m ×2 + 24.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213015 ms (missed cycles : 3). + 24.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213015 ms (missed cycles : 3).[0m ×2 + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911913 ms (missed cycles : 4). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911913 ms (missed cycles : 4).[0m ×2 + 26.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595991 ms (missed cycles : 4). + 26.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595991 ms (missed cycles : 4).[0m ×2 + 28.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935818 ms (missed cycles : 2). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935818 ms (missed cycles : 2).[0m ×2 + 29.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893401 ms (missed cycles : 2). + 29.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893401 ms (missed cycles : 2).[0m ×2 + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138788 ms (missed cycles : 3). + 30.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138788 ms (missed cycles : 3).[0m ×2 + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690246 ms (missed cycles : 2). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690246 ms (missed cycles : 2).[0m ×2 + 32.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992416 ms (missed cycles : 3). + 32.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992416 ms (missed cycles : 3).[0m ×2 + 32.72sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983494 ms (missed cycles : 2). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983494 ms (missed cycles : 2).[0m ×2 + 34.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994233 ms (missed cycles : 2). + 34.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994233 ms (missed cycles : 2).[0m ×2 + 35.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890074 ms (missed cycles : 2). + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890074 ms (missed cycles : 2).[0m ×2 + 36.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586846 ms (missed cycles : 4). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586846 ms (missed cycles : 4).[0m ×2 + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281561 ms (missed cycles : 2). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281561 ms (missed cycles : 2).[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.129619 ms (missed cycles : 8). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.129619 ms (missed cycles : 8).[0m ×2 + 39.53sINFOamclParticle filter update iteration stats: 1640 particles 723 points - 1.734ms + 39.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175761 ms (missed cycles : 2). + 39.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175761 ms (missed cycles : 2).[0m ×2 + 40.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069730 ms (missed cycles : 3). + 40.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069730 ms (missed cycles : 3).[0m ×2 + 41.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824404 ms (missed cycles : 3). + 41.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824404 ms (missed cycles : 3).[0m ×2 + 42.25sINFOamclParticle filter update iteration stats: 1640 particles 723 points - 1.930ms + 42.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450628 ms (missed cycles : 4). + 42.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450628 ms (missed cycles : 4).[0m ×2 + 43.13sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 1.762ms + 43.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.640320 ms (missed cycles : 6). + 43.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.640320 ms (missed cycles : 6).[0m ×2 + 44.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974219 ms (missed cycles : 3). + 44.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974219 ms (missed cycles : 3).[0m ×2 + 45.44sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 1.403ms + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569507 ms (missed cycles : 4). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569507 ms (missed cycles : 4).[0m ×2 + 46.25sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 1.949ms + 46.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323332 ms (missed cycles : 2). + 46.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323332 ms (missed cycles : 2).[0m ×2 + 47.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674828 ms (missed cycles : 3). + 47.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674828 ms (missed cycles : 3).[0m ×2 + 49.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980337 ms (missed cycles : 2). + 49.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980337 ms (missed cycles : 2).[0m ×2 + 49.04sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 2.325ms + 49.84sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.432ms + 50.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500727 ms (missed cycles : 3). + 50.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500727 ms (missed cycles : 3).[0m ×2 + 51.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449998 ms (missed cycles : 2). + 51.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449998 ms (missed cycles : 2).[0m ×2 + 52.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637968 ms (missed cycles : 4). + 52.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637968 ms (missed cycles : 4).[0m ×2 + 52.73sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.553ms + 53.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299588 ms (missed cycles : 2). + 53.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299588 ms (missed cycles : 2).[0m ×2 + 54.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808664 ms (missed cycles : 2). + 54.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808664 ms (missed cycles : 2).[0m ×2 + 55.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862560 ms (missed cycles : 3). + 55.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862560 ms (missed cycles : 3).[0m ×2 + 56.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668243 ms (missed cycles : 2). + 56.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668243 ms (missed cycles : 2).[0m ×2 + 57.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055768 ms (missed cycles : 4). + 57.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055768 ms (missed cycles : 4).[0m ×2 + 57.43sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 1.525ms + 58.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784314872.89257741 seconds ×3 + 58.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648352 ms (missed cycles : 3). + 58.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648352 ms (missed cycles : 3).[0m ×2 + 58.43sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 2.285ms + 58.55sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 2.402ms + 58.89sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784314873.45369148 seconds. ×3 + 58.94sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.316ms + 59.25sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 59.28sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 59.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613416 ms (missed cycles : 4). + 59.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613416 ms (missed cycles : 4).[0m ×2 + 60.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101149 ms (missed cycles : 2). + 60.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101149 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 144 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.15sINFOmove_groupClearing octomap...[0m ×2 + 1.15sINFOmove_groupOctomap cleared.[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 3.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.03sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.03sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.06sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934633 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934633 ms (missed cycles : 2).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249049 ms (missed cycles : 4). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249049 ms (missed cycles : 4).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919212 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919212 ms (missed cycles : 3).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290216 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290216 ms (missed cycles : 2).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845200 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845200 ms (missed cycles : 3).[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855294 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855294 ms (missed cycles : 2).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.106491 ms (missed cycles : 5). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.106491 ms (missed cycles : 5).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148807 ms (missed cycles : 4). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148807 ms (missed cycles : 4).[0m ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946827 ms (missed cycles : 2). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946827 ms (missed cycles : 2).[0m ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958888 ms (missed cycles : 5). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958888 ms (missed cycles : 5).[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912199 ms (missed cycles : 3). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912199 ms (missed cycles : 3).[0m ×2 + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719003 ms (missed cycles : 3). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719003 ms (missed cycles : 3).[0m ×2 + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028708 ms (missed cycles : 2). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028708 ms (missed cycles : 2).[0m ×2 + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068954 ms (missed cycles : 3). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068954 ms (missed cycles : 3).[0m ×2 + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981647 ms (missed cycles : 2). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981647 ms (missed cycles : 2).[0m ×2 + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753464 ms (missed cycles : 2). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753464 ms (missed cycles : 2).[0m ×2 + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196847 ms (missed cycles : 2). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196847 ms (missed cycles : 2).[0m ×2 + 23.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.363ms + 24.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106175 ms (missed cycles : 2). + 24.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106175 ms (missed cycles : 2).[0m ×2 + 25.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713905 ms (missed cycles : 3). + 25.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713905 ms (missed cycles : 3).[0m ×2 + 26.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534470 ms (missed cycles : 4). + 26.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534470 ms (missed cycles : 4).[0m ×2 + 27.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597197 ms (missed cycles : 3). + 27.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597197 ms (missed cycles : 3).[0m ×2 + 28.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349554 ms (missed cycles : 4). + 28.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349554 ms (missed cycles : 4).[0m ×2 + 29.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177791 ms (missed cycles : 5). + 29.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177791 ms (missed cycles : 5).[0m ×2 + 30.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054748 ms (missed cycles : 2). + 30.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054748 ms (missed cycles : 2).[0m ×2 + 31.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192469 ms (missed cycles : 5). + 31.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192469 ms (missed cycles : 5).[0m ×2 + 32.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231178 ms (missed cycles : 2). + 32.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231178 ms (missed cycles : 2).[0m ×2 + 33.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448022 ms (missed cycles : 2). + 33.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448022 ms (missed cycles : 2).[0m ×2 + 34.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628169 ms (missed cycles : 4). + 34.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628169 ms (missed cycles : 4).[0m ×2 + 35.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859185 ms (missed cycles : 2). + 35.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859185 ms (missed cycles : 2).[0m ×2 + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881079 ms (missed cycles : 3). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881079 ms (missed cycles : 3).[0m ×2 + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693770 ms (missed cycles : 3). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693770 ms (missed cycles : 3).[0m ×2 + 38.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.799555 ms (missed cycles : 6). + 38.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.799555 ms (missed cycles : 6).[0m ×2 + 39.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403457 ms (missed cycles : 2). + 39.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403457 ms (missed cycles : 2).[0m ×2 + 40.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486019 ms (missed cycles : 6). + 40.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486019 ms (missed cycles : 6).[0m ×2 + 41.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.318534 ms (missed cycles : 7). + 41.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.318534 ms (missed cycles : 7).[0m ×2 + 42.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.323ms + 42.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375164 ms (missed cycles : 3). + 42.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375164 ms (missed cycles : 3).[0m ×2 + 43.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835405 ms (missed cycles : 2). + 43.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835405 ms (missed cycles : 2).[0m ×2 + 44.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839589 ms (missed cycles : 3). + 44.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839589 ms (missed cycles : 3).[0m ×2 + 46.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180382 ms (missed cycles : 2). + 46.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180382 ms (missed cycles : 2).[0m ×2 + 46.62sINFOjoint_trajectory_controllerGoal reached, success! + 46.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784314645.19176793 seconds ×3 + 47.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660428 ms (missed cycles : 3). + 47.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660428 ms (missed cycles : 3).[0m ×2 + 47.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 47.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784314645.75251818 seconds. ×3 + 48.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549361 ms (missed cycles : 3). + 48.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549361 ms (missed cycles : 3).[0m ×2 + 48.15sINFOobjective_server_nodeFound path in 0 iterations (3.4381e-05 s). ×2 + 48.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 49.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444666 ms (missed cycles : 4). + 49.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444666 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.8s | 111 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749205 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749205 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789294 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789294 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956014 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956014 ms (missed cycles : 4).[0m ×2 + 2.50sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.50sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.51sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784314710.11067915 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416836 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416836 ms (missed cycles : 3).[0m ×2 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.08sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784314711.67896581 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036158 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036158 ms (missed cycles : 4).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228112 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228112 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.93sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.93sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425242 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425242 ms (missed cycles : 3).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708018 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708018 ms (missed cycles : 2).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027536 ms (missed cycles : 4). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027536 ms (missed cycles : 4).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023332 ms (missed cycles : 3). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023332 ms (missed cycles : 3).[0m ×2 + 10.01sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.389135 ms (missed cycles : 7). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.389135 ms (missed cycles : 7).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457786 ms (missed cycles : 4). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457786 ms (missed cycles : 4).[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343818 ms (missed cycles : 3). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343818 ms (missed cycles : 3).[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060783 ms (missed cycles : 3). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060783 ms (missed cycles : 3).[0m ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773103 ms (missed cycles : 3). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773103 ms (missed cycles : 3).[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407450 ms (missed cycles : 2). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407450 ms (missed cycles : 2).[0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600223 ms (missed cycles : 2). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600223 ms (missed cycles : 2).[0m ×2 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076536 ms (missed cycles : 2). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076536 ms (missed cycles : 2).[0m ×2 + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115795 ms (missed cycles : 2). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115795 ms (missed cycles : 2).[0m ×2 + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293146 ms (missed cycles : 2). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293146 ms (missed cycles : 2).[0m ×2 + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208676 ms (missed cycles : 3). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208676 ms (missed cycles : 3).[0m ×2 + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682674 ms (missed cycles : 2). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682674 ms (missed cycles : 2).[0m ×2 + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577765 ms (missed cycles : 4). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577765 ms (missed cycles : 4).[0m ×2 + 23.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851579 ms (missed cycles : 3). + 23.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851579 ms (missed cycles : 3).[0m ×2 + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737943 ms (missed cycles : 3). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737943 ms (missed cycles : 3).[0m ×2 + 26.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302399 ms (missed cycles : 3). + 26.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302399 ms (missed cycles : 3).[0m ×2 + 27.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740924 ms (missed cycles : 4). + 27.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740924 ms (missed cycles : 4).[0m ×2 + 28.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768997 ms (missed cycles : 2). + 28.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768997 ms (missed cycles : 2).[0m ×2 + 29.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865270 ms (missed cycles : 2). + 29.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865270 ms (missed cycles : 2).[0m ×2 + 30.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062108 ms (missed cycles : 2). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062108 ms (missed cycles : 2).[0m ×2 + 31.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799127 ms (missed cycles : 3). + 31.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799127 ms (missed cycles : 3).[0m ×2 + 32.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078758 ms (missed cycles : 4). + 32.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078758 ms (missed cycles : 4).[0m ×2 + 33.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454366 ms (missed cycles : 3). + 33.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454366 ms (missed cycles : 3).[0m ×2 + 34.34sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784314741.93911839 seconds ×3 + 34.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.186129 ms (missed cycles : 5). + 34.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.186129 ms (missed cycles : 5).[0m ×2 + 34.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 34.61sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 1.857ms + 34.90sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784314742.50011158 seconds. ×3 + 35.23sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 35.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851676 ms (missed cycles : 3). + 35.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851676 ms (missed cycles : 3).[0m ×2 + 35.69sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.229ms + 36.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822111 ms (missed cycles : 3). + 36.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822111 ms (missed cycles : 3).[0m ×2 + 36.48sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 37.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112820 ms (missed cycles : 2). + 37.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112820 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.9s | 55 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862560 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862560 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668243 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668243 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055768 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055768 ms (missed cycles : 4).[0m ×2 + 2.24sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 1.525ms + 3.09sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.09sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784314872.89257741 seconds ×3 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648352 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648352 ms (missed cycles : 3).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 2.285ms + 3.35sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 2.402ms + 3.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784314873.45369148 seconds. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.75sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.316ms + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.09sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.09sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.09sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.09sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613416 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613416 ms (missed cycles : 4).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101149 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101149 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792324 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792324 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305059 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305059 ms (missed cycles : 2).[0m ×2 + 7.44sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.321ms + 8.26sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975356 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975356 ms (missed cycles : 3).[0m ×2 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.45sINFOobjective_server_nodeFound path in 0 iterations (8.8e-07 s). ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.62sINFOobjective_server_nodeFound path in 0 iterations (1.14e-06 s). ×2 + 8.85sINFOobjective_server_nodeFound path in 69 iterations (0.0494484 s). ×2 + 9.03sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.08sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663308 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663308 ms (missed cycles : 2).[0m ×2 + 9.44sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.49sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 9.79sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.02sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027423 ms (missed cycles : 3). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027423 ms (missed cycles : 3).[0m ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708744 ms (missed cycles : 2). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708744 ms (missed cycles : 2).[0m ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163132 ms (missed cycles : 3). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163132 ms (missed cycles : 3).[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746800 ms (missed cycles : 3). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746800 ms (missed cycles : 3).[0m ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571502 ms (missed cycles : 4). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571502 ms (missed cycles : 4).[0m ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119578 ms (missed cycles : 4). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119578 ms (missed cycles : 4).[0m ×2 + 16.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784314885.77819991 seconds ×3 + 16.15sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 2.863ms + 16.25sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.946ms + 16.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.100ms + 16.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784314886.37061167 seconds. ×3 + 16.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.61sINFOmove_groupClearing octomap...[0m ×2 + 16.61sINFOmove_groupOctomap cleared.[0m ×2 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885496 ms (missed cycles : 2). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885496 ms (missed cycles : 2).[0m ×2 + 17.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784314886.83078265 seconds ×3 + 17.24sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.375ms + 17.34sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 2.010ms + 17.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784314887.37552333 seconds. ×3 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.408488 ms (missed cycles : 7). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.408488 ms (missed cycles : 7).[0m ×2 + 18.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784314887.91568756 seconds ×3 + 18.40sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988711 ms (missed cycles : 2). | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 93 errors · 33 warnings · 449 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746800 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746800 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571502 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571502 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119578 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119578 ms (missed cycles : 4).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784314885.77819991 seconds ×3 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 2.863ms + 2.74sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.946ms + 2.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.100ms + 3.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784314886.37061167 seconds. ×3 + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.11sINFOmove_groupClearing octomap...[0m ×2 + 3.11sINFOmove_groupOctomap cleared.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885496 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885496 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784314886.83078265 seconds ×3 + 3.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.375ms + 3.83sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 2.010ms + 4.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784314887.37552333 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.408488 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.408488 ms (missed cycles : 7).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784314887.91568756 seconds ×3 + 4.89sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988711 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988711 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289105 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289105 ms (missed cycles : 5).[0m ×2 + 6.45sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 1.710ms + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865005 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865005 ms (missed cycles : 3).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867057 ms (missed cycles : 5). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867057 ms (missed cycles : 5).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195667 ms (missed cycles : 5). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195667 ms (missed cycles : 5).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507513 ms (missed cycles : 4). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507513 ms (missed cycles : 4).[0m ×2 + 10.61sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORweb_video_server-33process[web_video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 10.66sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORweb_video_auth_proxy-35process has died [pid 13553, 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 + 10.66sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 10.70sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORweb_bridge_auth_proxy-34process has died [pid 13552, 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 + 10.70sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORfixed_lag_smoother_node-8process[fixed_lag_smoother_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sINFOweb_video_server-33sending signal 'SIGTERM' to process[web_video_server-33] ×2 + 10.76sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 10.79sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 10.81sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 10.83sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 10.85sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 10.88sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 10.90sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 10.93sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 10.96sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.00sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.03sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.05sINFOweb_video_server-33process has finished cleanly [pid 13551] ×2 + 11.05sINFOtf2_web_republisher_node-32process has finished cleanly [pid 13550] ×2 + 11.05sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.06sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.11sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.11sINFOcontroller_managerShutdown request received.... + 11.11sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.11sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.11sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.11sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.11sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.11sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.11sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.11sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.11sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.11sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.11sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.11sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.11sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.11sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.11sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.11sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.11sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.11sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.11sINFOcontroller_managerShutting down the controller manager. + 11.13sINFOfixed_lag_smoother_node-8sending signal 'SIGTERM' to process[fixed_lag_smoother_node-8] ×2 + 11.14sERRORui_teleop_bridge-30process has died [pid 13548, 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_fwv54ys2']. ×2 + 11.16sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.16sERRORmove_group-21process has died [pid 13484, 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_he21eqt1 --params-file /tmp/launch_params_2zc70yak --params-file /tmp/launch_params_vdtkf3qz --params-file /tmp/launch_params_g4zo8ocp --params-file /tmp/launch_params_rud99k6f --params-file /tmp/launch_params_hk8uqdt8']. ×2 + 11.18sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.19sINFOcomponent_container_mt-28process has finished cleanly [pid 13528] ×2 + 11.21sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.21sINFOexecute_objective_bridge-29process has finished cleanly [pid 13547] ×2 + 11.23sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] ×2 + 11.25sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] ×2 + 11.28sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.28sERRORobjective_server_node_main-26process has died [pid 13526, 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_90y8s_xn --params-file /tmp/launch_params_de4ikrmt --params-file /tmp/launch_params_p2zc0thj --params-file /tmp/launch_params_f7on53li --params-file /tmp/launch_params_56l7ymrb --params-file /tmp/launch_params_gijux5b6 --params-file /tmp/launch_params_z08gh58a --params-file /tmp/launch_params_a1qdazkm --params-file /tmp/launch_params_13y76u34']. ×2 + 11.30sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.30sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.30sINFOcontroller_serverCleaning up + 11.30sINFOlocal_costmap.local_costmapCleaning up + 11.30sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.30sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.30sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.30sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.30sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.30sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.30sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.30sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 11.30sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.30sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.30sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.30sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.30sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.30sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.30sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.30sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.31sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.31sINFOobjective_server_node[0;m[0m[INFO] [2026-07-17 19:01:34.168] signal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.31sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.31sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.32sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.32sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.32sERRORmove_groupStack trace (most recent call last) in thread 14121: ×2 + 11.32sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.32sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f815cbcca63, in __clone ×2 + 11.32sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f815cb3faa3, in ×2 + 11.32sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f815cdd1db3, in ×2 + 11.32sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f815d4261c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.32sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f815d1444d0, in rclcpp::Rate::sleep() ×2 + 11.32sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f815d097a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.32sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f815d05ca71, in ×2 + 11.32sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f815cda0390, in __cxa_throw ×2 + 11.32sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f815cd8aa54, in std::terminate() ×2 + 11.32sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f815cda00d9, in ×2 + 11.32sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f815cd8aff4, in ×2 + 11.32sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f815cacb8fe, in abort ×2 + 11.32sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f815cae827d, in raise ×2 + 11.32sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f815cb41b2c, in pthread_kill ×2 + 11.32sERRORmove_groupAborted (Signal sent by tkill() 13484 0) ×2 + 11.32sINFOobjective_server_node[2026-07-17 19:01:34.366] [moveit_pro_license] [info] ×2 + 11.32sINFOobjective_server_node************************************************* ×4 + 11.32sINFOobjective_server_node* MoveIt Pro License ×2 + 11.32sINFOobjective_server_node* Application has successfully terminated ×2 + 11.32sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.32sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.32sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.32sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.32sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.32sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.32sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.32sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.33sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.33sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.33sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x565055f9c6a4, in _start ×2 + 11.33sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc2b436728a, in __libc_start_main ×2 + 11.33sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc2b43671d0, in ×2 + 11.33sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc2b4384bbd, in exit ×2 + 11.33sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc2b4384a75, in ×2 + 11.33sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.33sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fc2b48538f5, in spdlog::details::registry::~registry() ×2 + 11.33sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x565055f9cd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.33sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x565055fa3315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.33sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x565055fa25a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.33sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x565055f9eb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.33sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x565055f9cd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.33sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2b4f09454, in rclcpp::Node::~Node() ×2 + 11.33sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2b4ec4515, in ×2 + 11.33sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2b4f07d20, in ×2 + 11.33sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2b4f07c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.33sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2b4ec45d9, in ×2 + 11.33sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2b4ec9161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.33sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fc260ad0160]) ×2 + 11.33sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.33sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.33sINFOodom_qos_relay.pymain() ×2 + 11.33sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.33sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.34sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.34sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.34sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.34sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.34sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.34sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.34sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.34sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.34sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.34sERRORodom_world_drift.pyTraceback (most recent call last): ×2 + 11.34sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 130, in <module> ×2 + 11.34sINFOodom_world_drift.pymain() ×2 + 11.34sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 121, in main ×2 + 11.34sINFOodom_world_drift.pyrclpy.spin(node) ×2 + 11.34sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.34sINFOodom_world_drift.pyexecutor.spin_once() ×2 + 11.34sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.34sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) ×2 + 11.34sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 918, in _spin_once_impl ×2 + 11.34sINFOodom_world_drift.pyraise handler.exception() ×2 + 11.34sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/task.py", line 286, in _execute_coroutine_step ×2 + 11.34sINFOodom_world_drift.pyresult = coro.send(None) ×2 + 11.34sINFOodom_world_drift.py^^^^^^^^^^^^^^^ ×4 + 11.34sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 592, in handler ×2 + 11.34sINFOodom_world_drift.pyawait call_coroutine() ×2 + 11.34sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 454, in _execute ×2 + 11.34sINFOodom_world_drift.pyawait await_or_execute(tmr.callback) ×2 + 11.34sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 115, in await_or_execute ×2 + 11.34sINFOodom_world_drift.pyreturn callback(*args) ×2 + 11.34sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 114, in _pub ×2 + 11.34sINFOodom_world_drift.pyself.br.sendTransform(t) ×2 + 11.34sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/tf2_ros/transform_broadcaster.py", line 77, in sendTransform ×2 + 11.34sINFOodom_world_drift.pyself.pub_tf.publish(TFMessage(transforms=transform)) ×2 + 11.34sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/publisher.py", line 70, in publish ×2 + 11.34sINFOodom_world_drift.pyself.__publisher.publish(msg) ×2 + 11.34sINFOodom_world_drift.pyrclpy._rclpy_pybind11.RCLError: Failed to publish: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 11.34sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 11.34sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.35sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.35sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.35sINFOmap_serverDeactivating + 11.35sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.35sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.35sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.35sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 11.36sINFOmap_serverCleaning up + 11.36sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.36sINFOsmoother_serverCleaning up + 11.37sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.37sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.37sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.37sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.37sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.39sERRORamclThe bond connection to the lifecycle manager has been broken + 11.40sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.40sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.40sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.40sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.40sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.40sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.40sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.40sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.40sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.80sERRORcomponent_container_isolated-1process has died [pid 13387, 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_ksgqmgt0 --params-file /tmp/launch_params_gjg8uqz9 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.99sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 13525] ×2 + 12.03sINFOmove_joint_resampler_node-24process has finished cleanly [pid 13524] ×2 + 12.10sINFOparameter_manager_node-22process has finished cleanly [pid 13485] ×2 + 12.12sINFOwaypoint_manager_node-23process has finished cleanly [pid 13486] ×2 + 12.14sINFOcomponent_container_mt-27process has finished cleanly [pid 13527] ×2 + 12.21sINFOfixed_lag_smoother_node-8process has finished cleanly [pid 13394] ×2 + 12.21sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 13393] ×2 + 12.22sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 13392] ×2 + 12.27sINFOslip_aware_odom-4process has finished cleanly [pid 13390] ×2 + 12.31sERRORodom_qos_relay.py-5process has died [pid 13391, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.31sINFOstatic_transform_publisher-2process has finished cleanly [pid 13388] ×2 + 13.35sERRORodom_world_drift.py-3process has died [pid 13389, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py --ros-args -r __node:=odom_world_drift']. ×2 + 13.46sINFOweb_bridge-31process has finished cleanly [pid 13549] ×2 + 13.46sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 13.91sINFOros2_control_node-9process has finished cleanly [pid 13395] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 9 errors · 51 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948378 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948378 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413382 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413382 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.687660 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.687660 ms (missed cycles : 6).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810650 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810650 ms (missed cycles : 3).[0m ×2 + 3.59sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 5 seconds. ×3 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784314776.49033141 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712707 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712707 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784314777.16015506 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.72sINFOros2_control_nodeMuJoCo sim: 0.77% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200839 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200839 ms (missed cycles : 5).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 5.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.81sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.81sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.81sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.81sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.198ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549852 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549852 ms (missed cycles : 3).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.714581 ms (missed cycles : 5). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.714581 ms (missed cycles : 5).[0m ×2 + 7.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257751 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257751 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884807 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884807 ms (missed cycles : 2).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183060 ms (missed cycles : 2). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183060 ms (missed cycles : 2).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817097 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817097 ms (missed cycles : 2).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595198 ms (missed cycles : 4). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595198 ms (missed cycles : 4).[0m ×2 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319437 ms (missed cycles : 2). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319437 ms (missed cycles : 2).[0m ×2 + 14.53sINFOjoint_trajectory_controllerGot request to cancel goal + 14.54sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.54sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.54sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784314787.46101713 seconds ×3 + 14.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.263ms + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055052 ms (missed cycles : 2). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055052 ms (missed cycles : 2).[0m ×2 + 14.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.169ms + 15.12sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784314788.01875544 seconds. ×3 + 15.50sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807435 ms (missed cycles : 4). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807435 ms (missed cycles : 4).[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.871ms + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.639481 ms (missed cycles : 6). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.639481 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.5s | 36 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231935 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231935 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040380 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040380 ms (missed cycles : 2).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711685 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711685 ms (missed cycles : 2).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009097 ms (missed cycles : 3). + 3.03sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009097 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784314705.56726742 seconds ×3 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 3.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 3.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784314706.13054585 seconds. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 3.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365411 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365411 ms (missed cycles : 3).[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749205 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749205 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789294 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789294 ms (missed cycles : 3).[0m ×2 + 6.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956014 ms (missed cycles : 4). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956014 ms (missed cycles : 4).[0m ×2 + 7.59sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784314710.11067915 seconds ×3 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416836 ms (missed cycles : 3). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416836 ms (missed cycles : 3).[0m ×2 + 9.15sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784314711.67896581 seconds. ×3 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036158 ms (missed cycles : 4). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036158 ms (missed cycles : 4).[0m ×2 + 9.50sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228112 ms (missed cycles : 2). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228112 ms (missed cycles : 2).[0m ×2 + 10.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425242 ms (missed cycles : 3). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425242 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 33 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375164 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375164 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835405 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835405 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839589 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839589 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180382 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180382 ms (missed cycles : 2).[0m ×2 + 3.73sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.74sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784314645.19176793 seconds ×3 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660428 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660428 ms (missed cycles : 3).[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 4.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784314645.75251818 seconds. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549361 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549361 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (3.4381e-05 s). ×2 + 5.26sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.28sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.28sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.29sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444666 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444666 ms (missed cycles : 4).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367751 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367751 ms (missed cycles : 3).[0m ×2 + 7.39sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784314648.79267621 seconds ×3 + 7.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 7.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784314649.34711647 seconds. ×3 + 8.28sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250721 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250721 ms (missed cycles : 2).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972971 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972971 ms (missed cycles : 2).[0m ×2 + 9.78sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924123 ms (missed cycles : 3). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924123 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.0s | 24 warnings · 38 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163132 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163132 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746800 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746800 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571502 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571502 ms (missed cycles : 4).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119578 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119578 ms (missed cycles : 4).[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: 1784314885.77819991 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.66sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 2.863ms + 3.76sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.946ms + 3.84sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.100ms + 4.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784314886.37061167 seconds. ×3 + 4.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.12sINFOmove_groupClearing octomap...[0m ×2 + 4.13sINFOmove_groupOctomap cleared.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885496 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885496 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784314886.83078265 seconds ×3 + 4.75sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.375ms + 4.85sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 2.010ms + 5.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784314887.37552333 seconds. ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.408488 ms (missed cycles : 7). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.408488 ms (missed cycles : 7).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784314887.91568756 seconds ×3 + 5.91sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988711 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988711 ms (missed cycles : 2).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289105 ms (missed cycles : 5). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289105 ms (missed cycles : 5).[0m ×2 + 7.46sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 1.710ms | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 61 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.01sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784314645.19176793 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660428 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660428 ms (missed cycles : 3).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784314645.75251818 seconds. ×3 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549361 ms (missed cycles : 3). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549361 ms (missed cycles : 3).[0m ×2 + 1.53sINFOobjective_server_nodeFound path in 0 iterations (3.4381e-05 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444666 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444666 ms (missed cycles : 4).[0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367751 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367751 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784314648.79267621 seconds ×3 + 4.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 4.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784314649.34711647 seconds. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250721 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250721 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972971 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972971 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924123 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924123 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231935 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231935 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040380 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040380 ms (missed cycles : 2).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711685 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711685 ms (missed cycles : 2).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009097 ms (missed cycles : 3). + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009097 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784314705.56726742 seconds ×3 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 3.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 3.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784314706.13054585 seconds. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 3.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365411 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365411 ms (missed cycles : 3).[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749205 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749205 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789294 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789294 ms (missed cycles : 3).[0m ×2 + 6.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 6 errors · 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.18sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784314817.73894310 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784314818.35241795 seconds. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.413ms + 5.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 6 errors · 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.18sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784314817.73894310 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784314818.35241795 seconds. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.413ms + 5.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 19 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163132 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163132 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746800 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746800 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571502 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571502 ms (missed cycles : 4).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119578 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119578 ms (missed cycles : 4).[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: 1784314885.77819991 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.66sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 2.863ms + 3.76sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.946ms + 3.84sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.100ms + 4.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784314886.37061167 seconds. ×3 + 4.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.12sINFOmove_groupClearing octomap...[0m ×2 + 4.13sINFOmove_groupOctomap cleared.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885496 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885496 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784314886.83078265 seconds ×3 + 4.75sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.375ms + 4.85sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 2.010ms + 5.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784314887.37552333 seconds. ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.408488 ms (missed cycles : 7). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.408488 ms (missed cycles : 7).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784314887.91568756 seconds ×3 + 5.91sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988711 ms (missed cycles : 2). | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.15sINFOmove_groupClearing octomap...[0m ×2 + 1.15sINFOmove_groupOctomap cleared.[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 3.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.03sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.03sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.06sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934633 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934633 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375164 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375164 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835405 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835405 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839589 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839589 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180382 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180382 ms (missed cycles : 2).[0m ×2 + 3.73sINFOjoint_trajectory_controllerGoal reached, success! + 3.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784314645.19176793 seconds ×3 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660428 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660428 ms (missed cycles : 3).[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 4.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784314645.75251818 seconds. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549361 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549361 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (3.4381e-05 s). ×2 + 5.26sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444666 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444666 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375164 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375164 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835405 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835405 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839589 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839589 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180382 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180382 ms (missed cycles : 2).[0m ×2 + 3.73sINFOjoint_trajectory_controllerGoal reached, success! + 3.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784314645.19176793 seconds ×3 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660428 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660428 ms (missed cycles : 3).[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 4.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784314645.75251818 seconds. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549361 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549361 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (3.4381e-05 s). ×2 + 5.26sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444666 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444666 ms (missed cycles : 4).[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 8.108239 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108239 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 1.18sINFOros2_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 3.065578 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 5.11sINFOobjective_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 + 5.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.11sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.11sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.12sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.16sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.16sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231935 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231935 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040380 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040380 ms (missed cycles : 2).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711685 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711685 ms (missed cycles : 2).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009097 ms (missed cycles : 3). + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009097 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784314705.56726742 seconds ×3 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 3.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 3.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784314706.13054585 seconds. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 3.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365411 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365411 ms (missed cycles : 3).[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749205 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749205 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789294 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789294 ms (missed cycles : 3).[0m ×2 + 6.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231935 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231935 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040380 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040380 ms (missed cycles : 2).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711685 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711685 ms (missed cycles : 2).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009097 ms (missed cycles : 3). + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009097 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784314705.56726742 seconds ×3 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 3.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 3.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784314706.13054585 seconds. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 3.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365411 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365411 ms (missed cycles : 3).[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749205 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749205 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789294 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789294 ms (missed cycles : 3).[0m ×2 + 6.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231935 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231935 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040380 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040380 ms (missed cycles : 2).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711685 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711685 ms (missed cycles : 2).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009097 ms (missed cycles : 3). + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009097 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784314705.56726742 seconds ×3 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 3.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 3.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784314706.13054585 seconds. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 3.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365411 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365411 ms (missed cycles : 3).[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749205 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749205 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789294 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789294 ms (missed cycles : 3).[0m ×2 + 6.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231935 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231935 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040380 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040380 ms (missed cycles : 2).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711685 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711685 ms (missed cycles : 2).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009097 ms (missed cycles : 3). + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009097 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784314705.56726742 seconds ×3 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 3.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 3.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784314706.13054585 seconds. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 3.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365411 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365411 ms (missed cycles : 3).[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749205 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749205 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789294 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789294 ms (missed cycles : 3).[0m ×2 + 6.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799127 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799127 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078758 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078758 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454366 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454366 ms (missed cycles : 3).[0m ×2 + 3.05sINFOjoint_trajectory_controllerGoal reached, success! + 3.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784314741.93911839 seconds ×3 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.186129 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.186129 ms (missed cycles : 5).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 3.37sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 1.857ms + 3.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784314742.50011158 seconds. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851676 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851676 ms (missed cycles : 3).[0m ×2 + 4.45sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.229ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822111 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822111 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112820 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112820 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799127 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799127 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078758 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078758 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454366 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454366 ms (missed cycles : 3).[0m ×2 + 3.05sINFOjoint_trajectory_controllerGoal reached, success! + 3.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784314741.93911839 seconds ×3 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.186129 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.186129 ms (missed cycles : 5).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 3.37sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 1.857ms + 3.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784314742.50011158 seconds. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851676 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851676 ms (missed cycles : 3).[0m ×2 + 4.45sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.229ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822111 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822111 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112820 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112820 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799127 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799127 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078758 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078758 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454366 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454366 ms (missed cycles : 3).[0m ×2 + 3.05sINFOjoint_trajectory_controllerGoal reached, success! + 3.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784314741.93911839 seconds ×3 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.186129 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.186129 ms (missed cycles : 5).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 3.37sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 1.857ms + 3.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784314742.50011158 seconds. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851676 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851676 ms (missed cycles : 3).[0m ×2 + 4.45sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.229ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822111 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822111 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112820 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112820 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 8.108239 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108239 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 1.18sINFOros2_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 3.065578 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 5.11sINFOobjective_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 + 5.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.11sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.11sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.12sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.16sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.16sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[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 8.108239 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108239 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 1.18sINFOros2_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 3.065578 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 5.11sINFOobjective_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 + 5.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.11sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.11sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.12sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.16sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.16sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 6 errors · 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.18sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784314817.73894310 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784314818.35241795 seconds. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.413ms + 5.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 6 errors · 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.18sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784314817.73894310 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784314818.35241795 seconds. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.413ms + 5.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 6 errors · 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.18sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784314817.73894310 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784314818.35241795 seconds. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.413ms + 5.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 6 errors · 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.18sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784314817.73894310 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784314818.35241795 seconds. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.413ms + 5.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 6 errors · 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.18sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784314817.73894310 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784314818.35241795 seconds. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.413ms + 5.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 6 errors · 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869075 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762243 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236931 ms (missed cycles : 2).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155415 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.18sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784314817.73894310 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784314818.35241795 seconds. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477156 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877149 ms (missed cycles : 5).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.413ms + 5.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396602 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 30.7s | 70 errors · 688 warnings · 1881 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/2026-07-17-18-50-36-576449-1e0d6c77b26b-9255 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 12.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×3 + 12.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 12.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 13.04sINFOros2_control_node-9process started with pid [9313] + 13.04sINFOmove_group-21process started with pid [9409] + 13.04sINFOparameter_manager_node-22process started with pid [9410] + 13.04sINFOwaypoint_manager_node-23process started with pid [9411] + 13.04sINFOmove_joint_resampler_node-24process started with pid [9448] + 13.04sINFOmove_end_effector_resampler_node-25process started with pid [9450] + 13.04sINFOobjective_server_node_main-26process started with pid [9451] + 13.04sINFOcomponent_container_mt-27process started with pid [9453] + 13.04sINFOcomponent_container_mt-28process started with pid [9470] + 13.04sINFOexecute_objective_bridge-29process started with pid [9471] + 13.04sINFOui_teleop_bridge-30process started with pid [9472] + 13.04sINFOweb_bridge-31process started with pid [9480] + 13.04sINFOtf2_web_republisher_node-32process started with pid [9505] + 13.04sINFOweb_video_server-33process started with pid [9522] + 13.04sINFOweb_bridge_auth_proxy-34process started with pid [9552] + 13.04sINFOweb_video_auth_proxy-35process started with pid [9553] + 13.06sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 13.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 13.07sINFOcomponent_container_isolated-1process started with pid [9305] + 13.07sINFOstatic_transform_publisher-2process started with pid [9306] + 13.07sINFOodom_world_drift.py-3process started with pid [9307] + 13.07sINFOslip_aware_odom-4process started with pid [9308] + 13.07sINFOodom_qos_relay.py-5process started with pid [9309] + 13.07sINFOscan_to_scan_filter_chain-6process started with pid [9310] + 13.07sINFOscan_to_scan_filter_chain-7process started with pid [9311] + 13.07sINFOfixed_lag_smoother_node-8process started with pid [9312] + 13.07sINFOros2-10process started with pid [9392] + 13.07sINFOros2-11process started with pid [9393] + 13.07sINFOros2-12process started with pid [9394] + 13.07sINFOros2-13process started with pid [9395] + 13.07sINFOros2-14process started with pid [9398] + 13.07sINFOros2-15process started with pid [9399] + 13.07sINFOros2-16process started with pid [9400] + 13.07sINFOros2-17process started with pid [9402] + 13.07sINFOros2-18process started with pid [9405] + 13.07sINFOros2-19process started with pid [9406] + 13.07sINFOros2-20process started with pid [9407] + 13.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 13.14sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×3 + 13.14sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×3 + 13.14sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 13.14sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 13.14sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 13.14sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 13.14sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 13.14sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 13.14sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 13.14sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 13.14sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640720 ms (missed cycles : 3).[0m + 13.15sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 13.15sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 13.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 13.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 13.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 13.32sINFOcomponent_container_mtRobot initialized[0m ×3 + 13.34sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 13.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 13.35sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 13.38sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 13.38sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 13.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 13.46sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 13.46sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 13.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 13.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 13.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 13.64sWARNscan_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 + 13.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 13.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 13.85sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 13.85sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 13.86sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 13.86sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 13.86sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 13.86sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 13.86sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 13.87sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 13.87sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×3 + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.869497 ms (missed cycles : 6).[0m + 14.05sINFOmove_groupLoaded robot model in 0.419968 seconds[0m + 14.05sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 14.05sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.37sINFOwaypoint_manager_nodeLoaded robot model in 0.517676 seconds[0m + 14.37sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 14.37sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.59sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 14.59sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 14.70sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×9 + 14.70sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 14.71sWARNmove_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 + 14.71sWARNmove_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 + 14.71sWARNmove_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 + 14.71sWARNmove_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 + 14.71sWARNmove_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 + 14.71sWARNmove_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 + 14.71sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.71sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.71sWARNmove_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 + 14.71sWARNmove_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 + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788390 ms (missed cycles : 2).[0m + 15.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.32sWARNwaypoint_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 + 15.39sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 15.39sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 15.40sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 15.40sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.40sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 15.40sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 15.41sINFOmove_groupStarting planning scene monitor[0m ×3 + 15.41sINFOmove_groupListening to '/planning_scene'[0m ×3 + 15.41sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 15.41sINFOmove_groupListening to 'collision_object'[0m ×3 + 15.42sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 15.57sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 15.57sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 15.57sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 15.57sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 15.57sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 15.57sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 15.57sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 15.57sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 15.57sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 15.57sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 15.57sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 15.57sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 15.57sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 15.57sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 15.57sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 15.57sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 15.57sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 15.57sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 15.57sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 15.57sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 15.62sWARNros2_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 + 15.71sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 15.71sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 15.73sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__snrxhzu --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_hvmmntsa --params-file /tmp/launch_params_o1fdxz_5 [0m + 15.77sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 15.77sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.78sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 15.78sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 15.78sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 15.79sINFOros2_control_nodeconfigure successful[0m ×9 + 15.79sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 15.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 15.80sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756451 ms (missed cycles : 2).[0m + 16.15sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 16.15sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 16.18sINFOros2-13process has finished cleanly [pid 9395] + 16.31sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__snrxhzu --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_hvmmntsa --params-file /tmp/launch_params_o1fdxz_5 [0m + 16.39sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 16.39sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 16.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 16.41sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 16.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 16.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 16.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 16.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 16.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 16.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 16.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 16.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 16.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 16.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 16.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 16.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 16.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 16.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 16.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 16.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 16.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.73sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 16.76sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.76sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.76sINFOros2_control_node[2026-07-17 18:50:56.480] [warning] No force/torque sensor configured. The VFC will ignore force references. + 16.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 16.77sINFOros2_control_node[2026-07-17 18:50:56.487] [info] Controller state will be published at 10 Hz. + 16.77sINFOros2_control_node[2026-07-17 18:50:56.488] [info] VelocityForceController 'on_configure' succeeded. + 16.79sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 16.79sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 16.79sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 16.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 16.80sINFOcomponent_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 + 16.80sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 16.91sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 16.92sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 16.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.96sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.96sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 16.96sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 16.97sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 16.97sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 16.97sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 16.97sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 16.97sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 16.98sWARNcomponent_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 + 16.99sINFOobjective_server_node[2026-07-17 18:50:56.713] [moveit_pro_license] [info] + 16.99sINFOobjective_server_node************************************************* ×8 + 16.99sINFOobjective_server_node* MoveIt Pro License ×4 + 16.99sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 17.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 17.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 17.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 17.06sINFOcomponent_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 + 17.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 17.08sINFOobjective_server_nodeLoaded robot model in 0.0259618 seconds[0m + 17.09sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 17.09sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.11sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 17.12sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 17.12sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__snrxhzu --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_hvmmntsa --params-file /tmp/launch_params_o1fdxz_5 [0m + 17.12sINFOmove_group ×12 + 17.12sINFOmove_group******************************************************** ×6 + 17.12sINFOmove_group* MoveGroup using: ×3 + 17.12sINFOmove_group* - apply_planning_scene_service ×3 + 17.12sINFOmove_group* - clear_octomap_service ×3 + 17.12sINFOmove_group* - get_group_urdf ×3 + 17.12sINFOmove_group* - load_geometry_from_file ×3 + 17.12sINFOmove_group* - get_planning_scene_service ×3 + 17.12sINFOmove_group* - kinematics_service ×3 + 17.12sINFOmove_group* - save_geometry_to_file ×3 + 17.12sINFOmove_group* - GetPlanningGroups ×3 + 17.12sINFOmove_group* - URDFPlanningSceneCapability ×3 + 17.12sINFOmove_group[0m ×3 + 17.12sINFOmove_group[92mYou can start planning now![0m ×3 + 17.15sINFOros2-17process has finished cleanly [pid 9402] + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620005 ms (missed cycles : 3).[0m + 17.20sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 17.21sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 17.28sINFOcomponent_container_mtLoaded robot model in 0.304757 seconds[0m + 17.28sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 17.28sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.51sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 17.51sWARNobjective_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.[0m ×3 + 17.52sWARNobjective_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 + 17.52sWARNobjective_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 + 17.52sWARNobjective_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 + 17.52sWARNobjective_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 + 17.52sWARNobjective_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 + 17.52sWARNobjective_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.[0m ×3 + 17.52sWARNobjective_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.[0m ×3 + 17.52sWARNobjective_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.[0m ×3 + 17.52sWARNobjective_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.[0m ×3 + 17.60sINFOobjective_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 + 17.60sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 17.63sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 17.63sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 17.63sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 17.63sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 17.63sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 17.63sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 17.63sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 17.63sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 17.63sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 17.68sWARNcomponent_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 + 17.68sWARNcomponent_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 + 17.68sWARNcomponent_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 + 17.69sWARNcomponent_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 + 17.69sWARNcomponent_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 + 17.69sWARNcomponent_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 + 17.69sWARNcomponent_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 + 17.69sWARNcomponent_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 + 17.69sWARNcomponent_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 + 17.69sWARNcomponent_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 + 17.69sWARNcomponent_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 + 17.69sWARNcomponent_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 + 17.70sWARNcomponent_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 + 17.70sWARNcomponent_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 + 17.70sWARNcomponent_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 + 17.70sWARNcomponent_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 + 17.70sWARNcomponent_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 + 17.70sWARNcomponent_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 + 17.70sINFOros2-15process has finished cleanly [pid 9399] + 17.70sWARNcomponent_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 + 17.70sWARNcomponent_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 + 17.71sWARNcomponent_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 + 17.71sWARNcomponent_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 + 17.71sWARNcomponent_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 + 17.71sWARNcomponent_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 + 17.71sWARNcomponent_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 + 17.71sWARNcomponent_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 + 17.71sWARNcomponent_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 + 17.71sWARNcomponent_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 + 17.73sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__snrxhzu --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_hvmmntsa --params-file /tmp/launch_params_o1fdxz_5 [0m + 17.81sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 17.81sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 17.97sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 18.10sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 18.10sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 18.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 18.11sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 18.14sINFOros2_control_node[2026-07-17 18:50:57.864] [info] Controller state will be published at 20 Hz. + 18.14sINFOros2_control_node[2026-07-17 18:50:57.866] [info] JointVelocityController 'on_configure' succeeded. + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174323 ms (missed cycles : 5).[0m + 18.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.29sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 18.50sWARNobjective_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 + 18.50sINFOros2-20process has finished cleanly [pid 9407] + 18.76sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 18.76sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 18.76sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__snrxhzu --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_hvmmntsa --params-file /tmp/launch_params_o1fdxz_5 [0m + 18.79sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 18.79sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.873252 ms (missed cycles : 7).[0m + 19.39sINFOros2_control_node[2026-07-17 18:50:59.107] [warning] No force/torque sensor configured. The VFC will ignore force references. + 19.39sINFOros2_control_node[2026-07-17 18:50:59.110] [info] Controller state will be published at 10 Hz. + 19.39sINFOros2_control_node[2026-07-17 18:50:59.111] [info] VelocityForceController 'on_configure' succeeded. + 19.60sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 19.74sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 19.74sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 19.75sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__snrxhzu --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_hvmmntsa --params-file /tmp/launch_params_o1fdxz_5 [0m + 19.77sINFOros2-18process has finished cleanly [pid 9405] + 19.81sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 19.81sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 19.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 19.82sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 19.82sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 19.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 19.83sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 20.18sINFOros2-12process has finished cleanly [pid 9394] + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876162 ms (missed cycles : 2).[0m + 20.44sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 20.44sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 20.44sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__snrxhzu --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_hvmmntsa --params-file /tmp/launch_params_o1fdxz_5 [0m + 20.48sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 20.49sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 20.50sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 20.50sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 20.83sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 20.83sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 20.83sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params__snrxhzu --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_hvmmntsa --params-file /tmp/launch_params_o1fdxz_5 [0m + 20.85sINFOros2-10process has finished cleanly [pid 9392] + 20.86sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 20.90sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 20.91sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 20.91sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 20.91sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 20.92sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 21.24sINFOros2-14process has finished cleanly [pid 9398] + 21.29sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 21.29sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 21.29sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__snrxhzu --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_hvmmntsa --params-file /tmp/launch_params_o1fdxz_5 [0m + 21.36sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 21.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649147 ms (missed cycles : 2).[0m + 21.37sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 21.38sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 21.38sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 21.73sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 21.73sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 21.73sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__snrxhzu --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_hvmmntsa --params-file /tmp/launch_params_o1fdxz_5 [0m + 21.74sINFOros2-11process has finished cleanly [pid 9393] + 21.76sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 21.76sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 22.14sINFOros2_control_node[2026-07-17 18:51:01.857] [info] Controller state will be published at 20 Hz. + 22.14sINFOros2_control_node[2026-07-17 18:51:01.857] [info] JointVelocityController 'on_configure' succeeded. + 22.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031334 ms (missed cycles : 3).[0m + 22.51sINFOros2-19process has finished cleanly [pid 9406] + 22.54sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 22.54sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 22.54sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__snrxhzu --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_hvmmntsa --params-file /tmp/launch_params_o1fdxz_5 [0m + 22.63sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 22.64sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 22.64sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 22.64sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 22.64sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 22.64sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 22.64sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 22.65sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 22.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 22.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 22.98sINFOros2-16process has finished cleanly [pid 9400] + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548157 ms (missed cycles : 3).[0m + 24.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.064370 ms (missed cycles : 6).[0m + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064675 ms (missed cycles : 2).[0m + 25.63sINFOros2_control_nodeMuJoCo sim: 0.91% of iterations over time budget. Below 1% expected for non-realtime.[0m + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.564856 ms (missed cycles : 4).[0m + 27.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873660 ms (missed cycles : 2).[0m + 28.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314267.73676682 seconds. + 28.02sINFOmove_groupClearing octomap...[0m ×4 + 28.02sINFOmove_groupOctomap cleared.[0m ×4 + 28.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314267.74700212 seconds + 28.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.618643 ms (missed cycles : 6).[0m + 28.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314268.31286550 seconds. + 28.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314268.32299232 seconds + 29.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314268.87749290 seconds. + 29.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314269.02830029 seconds + 29.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716732 ms (missed cycles : 2).[0m + 29.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314269.61540151 seconds. + 29.91sINFOobjective_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 + 29.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m + 29.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 29.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m + 29.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 29.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 29.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m + 29.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m + 29.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314269.68554902 seconds + 30.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314270.23916602 seconds. + 30.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 30.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 30.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 30.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 30.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828059 ms (missed cycles : 3).[0m + 31.58sINFOobjective_server_nodePlanning for 177 path waypoints. + 31.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146790 ms (missed cycles : 3).[0m + 31.85sINFOros2_control_nodeReceived new action goal[0m ×13 + 31.85sINFOros2_control_nodeAccepted new action goal[0m ×13 + 32.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596968 ms (missed cycles : 4).[0m + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633591 ms (missed cycles : 4).[0m + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775722 ms (missed cycles : 5).[0m + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839287 ms (missed cycles : 3).[0m + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203196 ms (missed cycles : 2).[0m + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962425 ms (missed cycles : 2).[0m + 39.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.805706 ms (missed cycles : 5).[0m + 40.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466142 ms (missed cycles : 2).[0m + 41.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827663 ms (missed cycles : 4).[0m + 42.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544786 ms (missed cycles : 4).[0m + 43.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977422 ms (missed cycles : 2).[0m + 44.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368743 ms (missed cycles : 3).[0m + 45.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667256 ms (missed cycles : 4).[0m + 46.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712509 ms (missed cycles : 2).[0m + 47.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776812 ms (missed cycles : 2).[0m + 48.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338877 ms (missed cycles : 3).[0m + 49.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135823 ms (missed cycles : 2).[0m + 50.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692368 ms (missed cycles : 4).[0m + 51.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406831 ms (missed cycles : 3).[0m + 52.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.127425 ms (missed cycles : 7).[0m + 53.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211463 ms (missed cycles : 4).[0m + 54.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724702 ms (missed cycles : 2).[0m + 55.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576866 ms (missed cycles : 3).[0m + 56.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976957 ms (missed cycles : 2).[0m + 57.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417975 ms (missed cycles : 3).[0m + 58.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771955 ms (missed cycles : 4).[0m + 59.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586717 ms (missed cycles : 3).[0m + 60.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670163 ms (missed cycles : 2).[0m + 61.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056936 ms (missed cycles : 4).[0m + 62.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693063 ms (missed cycles : 4).[0m + 63.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199354 ms (missed cycles : 4).[0m + 65.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174081 ms (missed cycles : 5).[0m + 66.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832983 ms (missed cycles : 3).[0m + 67.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736221 ms (missed cycles : 2).[0m + 68.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047641 ms (missed cycles : 2).[0m + 69.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582966 ms (missed cycles : 4).[0m + 70.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747964 ms (missed cycles : 4).[0m + 71.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366197 ms (missed cycles : 4).[0m + 72.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549351 ms (missed cycles : 4).[0m + 73.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553474 ms (missed cycles : 4).[0m + 73.46sINFOros2_control_nodeGoal reached, success![0m ×12 + 73.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784314313.23525834 seconds + 74.07sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784314313.79182386 seconds. + 74.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693415 ms (missed cycles : 3).[0m + 75.02sINFOobjective_server_nodeFound path in 0 iterations (2.8611e-05 s). + 75.02sINFOobjective_server_nodePath shortcutter: [X____X] + 75.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 75.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984930 ms (missed cycles : 3).[0m + 76.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092456 ms (missed cycles : 5).[0m + 77.15sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784314316.87198305 seconds + 77.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378106 ms (missed cycles : 3).[0m + 77.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784314317.41766620 seconds. + 78.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 78.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603134 ms (missed cycles : 3).[0m + 79.54sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 79.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134540 ms (missed cycles : 4).[0m + 80.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044902 ms (missed cycles : 3).[0m + 81.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338984 ms (missed cycles : 3).[0m + 82.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325756 ms (missed cycles : 5).[0m + 83.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.986293 ms (missed cycles : 7).[0m + 84.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632940 ms (missed cycles : 4).[0m + 85.63sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m + 85.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515481 ms (missed cycles : 4).[0m + 87.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672352 ms (missed cycles : 2).[0m + 88.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063032 ms (missed cycles : 2).[0m + 89.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832801 ms (missed cycles : 2).[0m + 90.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483963 ms (missed cycles : 2).[0m + 91.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286158 ms (missed cycles : 2).[0m + 92.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778080 ms (missed cycles : 2).[0m + 93.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828312 ms (missed cycles : 2).[0m + 94.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905540 ms (missed cycles : 4).[0m + 95.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009372 ms (missed cycles : 2).[0m + 96.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071662 ms (missed cycles : 2).[0m + 97.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190505 ms (missed cycles : 2).[0m + 98.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606936 ms (missed cycles : 4).[0m + 99.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587595 ms (missed cycles : 2).[0m +100.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205069 ms (missed cycles : 2).[0m +101.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900779 ms (missed cycles : 2).[0m +102.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357613 ms (missed cycles : 2).[0m +103.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036623 ms (missed cycles : 3).[0m +104.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972515 ms (missed cycles : 2).[0m +105.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442096 ms (missed cycles : 6).[0m +106.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126135 ms (missed cycles : 4).[0m +107.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.011031 ms (missed cycles : 7).[0m +108.29sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +108.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138085 ms (missed cycles : 4).[0m +109.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544578 ms (missed cycles : 4).[0m +110.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447646 ms (missed cycles : 2).[0m +112.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726166 ms (missed cycles : 3).[0m +113.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112740 ms (missed cycles : 2).[0m +114.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165500 ms (missed cycles : 3).[0m +115.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823305 ms (missed cycles : 4).[0m +116.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900888 ms (missed cycles : 3).[0m +117.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597212 ms (missed cycles : 3).[0m +118.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923506 ms (missed cycles : 3).[0m +119.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700401 ms (missed cycles : 4).[0m +120.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022839 ms (missed cycles : 2).[0m +121.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278813 ms (missed cycles : 2).[0m +122.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339413 ms (missed cycles : 2).[0m +123.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788621 ms (missed cycles : 3).[0m +124.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321086 ms (missed cycles : 3).[0m +125.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358420 ms (missed cycles : 3).[0m +126.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078965 ms (missed cycles : 2).[0m +127.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262626 ms (missed cycles : 2).[0m +128.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739876 ms (missed cycles : 3).[0m +129.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542052 ms (missed cycles : 4).[0m +130.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683007 ms (missed cycles : 5).[0m +131.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010146 ms (missed cycles : 2).[0m +132.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982868 ms (missed cycles : 3).[0m +133.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141806 ms (missed cycles : 3).[0m +133.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784314373.61982298 seconds +134.48sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784314374.19187760 seconds. +134.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). +134.83sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +134.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165250 ms (missed cycles : 4).[0m +135.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560176 ms (missed cycles : 4).[0m +136.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648284 ms (missed cycles : 4).[0m +137.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125423 ms (missed cycles : 2).[0m +138.56sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784314378.28208995 seconds +139.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345316 ms (missed cycles : 2).[0m +140.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601596 ms (missed cycles : 3).[0m +140.12sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784314379.84591079 seconds. +140.46sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). +141.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.005997 ms (missed cycles : 5).[0m +141.91sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +142.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465691 ms (missed cycles : 3).[0m +143.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.501547 ms (missed cycles : 4).[0m +144.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963183 ms (missed cycles : 3).[0m +145.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.711290 ms (missed cycles : 6).[0m +145.64sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +146.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.254773 ms (missed cycles : 5).[0m +147.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046341 ms (missed cycles : 3).[0m +148.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403037 ms (missed cycles : 3).[0m +149.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011215 ms (missed cycles : 3).[0m +150.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813139 ms (missed cycles : 2).[0m +151.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329749 ms (missed cycles : 2).[0m +152.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833107 ms (missed cycles : 2).[0m +153.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.563100 ms (missed cycles : 7).[0m +154.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552762 ms (missed cycles : 2).[0m +155.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.995481 ms (missed cycles : 5).[0m +156.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025086 ms (missed cycles : 2).[0m +157.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.662139 ms (missed cycles : 6).[0m +158.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729811 ms (missed cycles : 3).[0m +159.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549012 ms (missed cycles : 3).[0m +160.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783792 ms (missed cycles : 2).[0m +162.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770609 ms (missed cycles : 4).[0m +163.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957708 ms (missed cycles : 3).[0m +164.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884825 ms (missed cycles : 3).[0m +165.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503887 ms (missed cycles : 3).[0m +166.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764861 ms (missed cycles : 3).[0m +167.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953140 ms (missed cycles : 3).[0m +168.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073501 ms (missed cycles : 4).[0m +169.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141059 ms (missed cycles : 4).[0m +170.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115635 ms (missed cycles : 4).[0m +170.57sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784314410.28606486 seconds +171.13sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784314410.84841943 seconds. +171.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266607 ms (missed cycles : 5).[0m +171.46sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 +172.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909654 ms (missed cycles : 3).[0m +172.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 +173.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.834883 ms (missed cycles : 5).[0m +174.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439770 ms (missed cycles : 3).[0m +175.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581417 ms (missed cycles : 3).[0m +176.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684288 ms (missed cycles : 4).[0m +177.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173921 ms (missed cycles : 3).[0m +178.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775889 ms (missed cycles : 2).[0m +179.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992057 ms (missed cycles : 3).[0m +180.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344666 ms (missed cycles : 6).[0m +181.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.252666 ms (missed cycles : 5).[0m +182.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967109 ms (missed cycles : 3).[0m +183.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277771 ms (missed cycles : 2).[0m +184.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199101 ms (missed cycles : 4).[0m +185.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.151895 ms (missed cycles : 5).[0m +186.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286614 ms (missed cycles : 2).[0m +187.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340057 ms (missed cycles : 5).[0m +188.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587498 ms (missed cycles : 2).[0m +189.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.961065 ms (missed cycles : 6).[0m +190.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155460 ms (missed cycles : 2).[0m +191.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625732 ms (missed cycles : 2).[0m +192.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948965 ms (missed cycles : 3).[0m +193.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.662333 ms (missed cycles : 6).[0m +194.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698790 ms (missed cycles : 3).[0m +195.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672798 ms (missed cycles : 4).[0m +196.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313276 ms (missed cycles : 5).[0m +198.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690514 ms (missed cycles : 3).[0m +199.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.021658 ms (missed cycles : 5).[0m +200.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027461 ms (missed cycles : 6).[0m +201.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.054355 ms (missed cycles : 6).[0m +202.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.038169 ms (missed cycles : 6).[0m +203.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759992 ms (missed cycles : 2).[0m +203.73sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. +203.74sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. +203.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784314443.45863390 seconds +204.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.724364 ms (missed cycles : 6).[0m +204.42sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784314444.13879848 seconds. +204.77sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). +205.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872725 ms (missed cycles : 3).[0m +205.65sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m +206.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099166 ms (missed cycles : 2).[0m +207.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705959 ms (missed cycles : 2).[0m +208.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109082 ms (missed cycles : 3).[0m +209.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406263 ms (missed cycles : 5).[0m +210.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.565585 ms (missed cycles : 7).[0m +211.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291503 ms (missed cycles : 5).[0m +212.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903423 ms (missed cycles : 2).[0m +213.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014368 ms (missed cycles : 4).[0m +214.64sINFOros2_control_nodeGot request to cancel goal[0m +214.64sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +214.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839897 ms (missed cycles : 2).[0m +214.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784314454.37105370 seconds +215.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784314454.93217754 seconds. +215.56sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 +215.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268214 ms (missed cycles : 2).[0m +216.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535083 ms (missed cycles : 2).[0m +217.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011735 ms (missed cycles : 4).[0m +218.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558029 ms (missed cycles : 5).[0m +220.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.725926 ms (missed cycles : 6).[0m +221.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519788 ms (missed cycles : 3).[0m +222.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014706 ms (missed cycles : 3).[0m +223.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379543 ms (missed cycles : 2).[0m +224.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471968 ms (missed cycles : 3).[0m +225.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856832 ms (missed cycles : 6).[0m +226.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343717 ms (missed cycles : 3).[0m +227.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.028694 ms (missed cycles : 7).[0m +228.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701771 ms (missed cycles : 2).[0m +229.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701118 ms (missed cycles : 4).[0m +230.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913476 ms (missed cycles : 2).[0m +231.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.842813 ms (missed cycles : 6).[0m +232.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.781721 ms (missed cycles : 5).[0m +233.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973655 ms (missed cycles : 2).[0m +234.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.060054 ms (missed cycles : 6).[0m +235.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227019 ms (missed cycles : 2).[0m +236.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051052 ms (missed cycles : 4).[0m +237.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.391189 ms (missed cycles : 6).[0m +238.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356464 ms (missed cycles : 3).[0m +239.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710937 ms (missed cycles : 2).[0m +240.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161876 ms (missed cycles : 5).[0m +241.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894021 ms (missed cycles : 2).[0m +242.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157385 ms (missed cycles : 2).[0m +243.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375316 ms (missed cycles : 3).[0m +244.33sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. +244.34sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. +244.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784314484.06235027 seconds +244.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277175 ms (missed cycles : 4).[0m +244.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784314484.67594051 seconds. +245.30sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 +245.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527100 ms (missed cycles : 3).[0m +246.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956301 ms (missed cycles : 2).[0m +247.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771975 ms (missed cycles : 2).[0m +248.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738266 ms (missed cycles : 3).[0m +249.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980402 ms (missed cycles : 2).[0m +250.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.779557 ms (missed cycles : 6).[0m +251.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379003 ms (missed cycles : 2).[0m +252.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574845 ms (missed cycles : 6).[0m +253.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341305 ms (missed cycles : 2).[0m +255.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.631325 ms (missed cycles : 6).[0m +256.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775874 ms (missed cycles : 2).[0m +257.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695536 ms (missed cycles : 2).[0m +258.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293577 ms (missed cycles : 3).[0m +259.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987003 ms (missed cycles : 2).[0m +260.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707380 ms (missed cycles : 4).[0m +261.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.472505 ms (missed cycles : 5).[0m +262.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208741 ms (missed cycles : 2).[0m +263.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537461 ms (missed cycles : 2).[0m +264.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811177 ms (missed cycles : 3).[0m +265.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252823 ms (missed cycles : 2).[0m +266.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734998 ms (missed cycles : 3).[0m +267.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425831 ms (missed cycles : 3).[0m +268.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800668 ms (missed cycles : 2).[0m +269.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668808 ms (missed cycles : 2).[0m +270.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.279108 ms (missed cycles : 8).[0m +271.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.326582 ms (missed cycles : 5).[0m +272.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849367 ms (missed cycles : 4).[0m +273.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.987671 ms (missed cycles : 6).[0m +274.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930143 ms (missed cycles : 2).[0m +275.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945795 ms (missed cycles : 3).[0m +276.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323546 ms (missed cycles : 4).[0m +277.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915677 ms (missed cycles : 4).[0m +278.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269097 ms (missed cycles : 2).[0m +279.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679194 ms (missed cycles : 2).[0m +280.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113508 ms (missed cycles : 6).[0m +281.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790508 ms (missed cycles : 2).[0m +282.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151864 ms (missed cycles : 2).[0m +283.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345961 ms (missed cycles : 5).[0m +284.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315493 ms (missed cycles : 2).[0m +285.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055134 ms (missed cycles : 6).[0m +286.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.185316 ms (missed cycles : 5).[0m +288.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667317 ms (missed cycles : 3).[0m +289.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.737667 ms (missed cycles : 6).[0m +290.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066173 ms (missed cycles : 3).[0m +291.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775478 ms (missed cycles : 2).[0m +292.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975342 ms (missed cycles : 3).[0m +293.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793677 ms (missed cycles : 5).[0m +294.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.731148 ms (missed cycles : 7).[0m +295.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297722 ms (missed cycles : 3).[0m +296.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419520 ms (missed cycles : 2).[0m +297.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399067 ms (missed cycles : 3).[0m +298.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653921 ms (missed cycles : 3).[0m +299.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209582 ms (missed cycles : 3).[0m +299.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784314539.25607419 seconds +300.09sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784314539.81365848 seconds. +300.42sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). +300.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826034 ms (missed cycles : 3).[0m +301.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838135 ms (missed cycles : 5).[0m +302.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048918 ms (missed cycles : 2).[0m +303.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712762 ms (missed cycles : 5).[0m +304.67sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). +304.69sINFOobjective_server_nodePath shortcutter: [X__________________X] +304.76sINFOobjective_server_nodePath shortcutter: [X____________________X] +304.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712134 ms (missed cycles : 3).[0m +304.84sINFOobjective_server_nodePath shortcutter: [X_________________________X] +304.87sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). +305.00sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +305.28sINFOobjective_server_nodeFound path in 69 iterations (0.0503064 s). +305.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] +305.86sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +305.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487762 ms (missed cycles : 3).[0m +305.90sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). +306.21sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +306.46sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +306.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638154 ms (missed cycles : 3).[0m +307.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176366 ms (missed cycles : 3).[0m +308.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.678022 ms (missed cycles : 5).[0m +309.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079415 ms (missed cycles : 3).[0m +310.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966774 ms (missed cycles : 6).[0m +311.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342105 ms (missed cycles : 3).[0m +312.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784314552.18057466 seconds +313.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020516 ms (missed cycles : 3).[0m +313.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784314552.77361774 seconds. +313.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784314553.31376195 seconds +314.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100033 ms (missed cycles : 2).[0m +314.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784314553.87091565 seconds. +314.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784314554.36109757 seconds +314.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +315.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385484 ms (missed cycles : 2).[0m +316.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197049 ms (missed cycles : 2).[0m +317.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.392163 ms (missed cycles : 7).[0m +318.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011855 ms (missed cycles : 3).[0m +319.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023217 ms (missed cycles : 2).[0m +320.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.413829 ms (missed cycles : 5).[0m +320.71sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.72sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.72sERRORweb_video_server-33process[web_video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.73sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.73sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.73sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.74sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.74sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] +320.76sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.76sERRORweb_video_auth_proxy-35process has died [pid 9553, 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']. +320.76sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.77sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.77sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] +320.79sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.79sERRORweb_bridge_auth_proxy-34process has died [pid 9552, 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']. +320.79sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.80sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.80sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.80sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.81sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.81sERRORfixed_lag_smoother_node-8process[fixed_lag_smoother_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.81sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.82sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.82sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.83sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.83sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.84sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.84sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +320.84sINFOweb_video_server-33sending signal 'SIGTERM' to process[web_video_server-33] +320.86sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] +320.89sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] +320.91sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] +320.93sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] +320.95sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] +320.98sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] +321.00sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] +321.03sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] +321.05sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system +321.06sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] +321.08sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] +321.11sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] +321.13sINFOweb_video_server-33process has finished cleanly [pid 9522] +321.13sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9505] +321.15sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] +321.18sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] +321.21sINFOfixed_lag_smoother_node-8sending signal 'SIGTERM' to process[fixed_lag_smoother_node-8] +321.24sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +321.24sERRORmove_group-21process has died [pid 9409, 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_3dq1702b --params-file /tmp/launch_params_5ad3dkk9 --params-file /tmp/launch_params_gozer5dy --params-file /tmp/launch_params_x8mig3jl --params-file /tmp/launch_params_s_i9a25l --params-file /tmp/launch_params_8f8a0795']. +321.24sERRORui_teleop_bridge-30process has died [pid 9472, 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_ngqphcub']. +321.26sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +321.27sINFOcomponent_container_mt-28process has finished cleanly [pid 9470] +321.28sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +321.30sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] +321.31sINFOexecute_objective_bridge-29process has finished cleanly [pid 9471] +321.33sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] +321.35sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +321.37sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +321.38sERRORobjective_server_node_main-26process has died [pid 9451, 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_k0t2k47z --params-file /tmp/launch_params_8y5nd1vl --params-file /tmp/launch_params_zo_ou5q1 --params-file /tmp/launch_params_ywr4wbm7 --params-file /tmp/launch_params_eoh518qg --params-file /tmp/launch_params_wetmca30 --params-file /tmp/launch_params_jwbeci4o --params-file /tmp/launch_params_nury7jew --params-file /tmp/launch_params_3bgcx8xf']. +321.38sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +321.38sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +321.38sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +321.38sERRORui_teleop_bridgeTraceback (most recent call last): +321.38sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +321.38sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +321.38sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +321.38sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main +321.38sINFOui_teleop_bridgerclpy.shutdown() +321.38sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +321.38sINFOui_teleop_bridge_shutdown(context=context) +321.38sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +321.38sINFOui_teleop_bridgecontext.shutdown() +321.38sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +321.38sINFOui_teleop_bridgeself.__context.shutdown() +321.38sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +321.38sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +321.38sINFOobjective_server_node[0;m[0m[INFO] [2026-07-17 18:56:00.724] signal_handler(SIGINT/SIGTERM)[0m +321.38sINFOcomponent_container_mtStopping planning scene monitor[0m +321.38sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +321.39sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +321.39sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +321.39sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +321.39sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system +321.39sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +321.39sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +321.39sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +321.39sERRORmove_groupwhat(): context cannot be slept with because it's invalid +321.39sERRORmove_groupStack trace (most recent call last) in thread 10030: +321.39sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +321.39sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f97b47daa63, in __clone +321.39sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f97b474daa3, in +321.39sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f97b49dfdb3, in +321.39sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f97b50341c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +321.39sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f97b4d524d0, in rclcpp::Rate::sleep() +321.39sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f97b4ca5a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +321.39sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f97b4c6aa71, in +321.39sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f97b49ae390, in __cxa_throw +321.39sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f97b4998a54, in std::terminate() +321.39sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f97b49ae0d9, in +321.39sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f97b4998ff4, in +321.39sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f97b46d98fe, in abort +321.39sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f97b46f627d, in raise +321.39sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f97b474fb2c, in pthread_kill +321.39sERRORmove_groupAborted (Signal sent by tkill() 9409 0) +321.40sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +321.40sINFOros2_control_nodeShutdown request received....[0m +321.40sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +321.40sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +321.40sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +321.40sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +321.40sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +321.40sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +321.40sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +321.40sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +321.40sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +321.40sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +321.40sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +321.40sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +321.40sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +321.40sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +321.40sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +321.40sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +321.40sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +321.40sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +321.40sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +321.40sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +321.40sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +321.40sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +321.40sINFOros2_control_nodeShutting down the controller manager.[0m +321.40sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +321.40sINFOobjective_server_node[2026-07-17 18:56:00.909] [moveit_pro_license] [info] +321.40sINFOobjective_server_node* Application has successfully terminated +321.40sERRORobjective_server_nodeStack trace (most recent call last): +321.40sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +321.40sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +321.40sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556baacde6a4, in _start +321.41sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9f4b28e28a, in __libc_start_main +321.41sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9f4b28e1d0, in +321.41sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9f4b2abbbd, in exit +321.41sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9f4b2aba75, in +321.41sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f9f4b77a8f5, in spdlog::details::registry::~registry() +321.41sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556baacded79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +321.41sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556baace5315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +321.41sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556baace45a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +321.41sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556baace0b7b, in spdlog_ros::RosSink::~RosSink() +321.41sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556baacded79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +321.41sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9f4be30454, in rclcpp::Node::~Node() +321.41sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9f4bdeb515, in +321.41sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9f4be2ed20, in +321.41sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9f4be2ec63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +321.41sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9f4bdeb5d9, in +321.41sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9f4bdf0161, in rclcpp::CallbackGroup::~CallbackGroup() +321.41sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f9f037ef160]) +321.41sERRORodom_qos_relay.pyTraceback (most recent call last): +321.41sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +321.41sINFOodom_qos_relay.pymain() +321.41sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +321.41sINFOodom_qos_relay.pyrclpy.spin(node) +321.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +321.41sINFOodom_qos_relay.pyexecutor.spin_once() +321.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +321.41sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +321.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +321.41sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +321.41sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +321.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +321.41sINFOodom_qos_relay.pyreturn next(self._cb_iter) +321.41sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +321.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +321.41sINFOodom_qos_relay.pyraise ExternalShutdownException() +321.41sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +321.41sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m +321.41sERRORodom_world_drift.pyTraceback (most recent call last): +321.41sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 130, in <module> +321.41sINFOodom_world_drift.pymain() +321.41sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 121, in main +321.41sINFOodom_world_drift.pyrclpy.spin(node) +321.41sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +321.41sINFOodom_world_drift.pyexecutor.spin_once() +321.41sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +321.41sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) +321.41sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +321.41sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( +321.41sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +321.41sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +321.41sINFOodom_world_drift.pyreturn next(self._cb_iter) +321.41sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ +321.42sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +321.42sINFOodom_world_drift.pyraise ExternalShutdownException() +321.42sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException +321.42sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m +321.42sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system +321.42sINFOros2_control_nodeAsync messages lost 0[0m ×2 +321.42sINFOros2_control_nodepublish_async_failures_ 1[0m +321.42sINFOros2_control_nodepublish_async_failures_ 5[0m +321.87sERRORcomponent_container_isolated-1process has died [pid 9305, 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_275zv5ng --params-file /tmp/launch_params_ipr7ggcx -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +322.08sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9450] +322.11sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9448] +322.19sINFOparameter_manager_node-22process has finished cleanly [pid 9410] +322.19sINFOwaypoint_manager_node-23process has finished cleanly [pid 9411] +322.22sINFOcomponent_container_mt-27process has finished cleanly [pid 9453] +322.28sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9311] +322.28sINFOfixed_lag_smoother_node-8process has finished cleanly [pid 9312] +322.30sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9310] +322.35sINFOslip_aware_odom-4process has finished cleanly [pid 9308] +322.38sERRORodom_qos_relay.py-5process has died [pid 9309, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. +322.39sINFOstatic_transform_publisher-2process has finished cleanly [pid 9306] +323.41sERRORodom_world_drift.py-3process has died [pid 9307, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py --ros-args -r __node:=odom_world_drift']. +323.62sINFOweb_bridge-31process has finished cleanly [pid 9480] +323.62sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system +324.00sINFOros2_control_node-9process has finished cleanly [pid 9313] +331.89sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-17-18-56-08-427224-1e0d6c77b26b-13337 ×2 +344.53sINFOstatic_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' +344.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +344.67sINFOstate_estimatorReceived a set_pose request (stamp: 1784314584391755921, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +344.69sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +344.70sINFOcontroller_managerupdate rate is 600 Hz +344.70sINFOcontroller_managerOverruns handling is : enabled +344.70sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +344.70sWARNcontroller_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. +344.73sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +344.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +344.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +344.78sINFOros2_control_node-9process started with pid [13395] ×2 +344.78sINFOmove_group-21process started with pid [13484] ×2 +344.78sINFOparameter_manager_node-22process started with pid [13485] ×2 +344.78sINFOwaypoint_manager_node-23process started with pid [13486] ×2 +344.78sINFOmove_joint_resampler_node-24process started with pid [13524] ×2 +344.78sINFOmove_end_effector_resampler_node-25process started with pid [13525] ×2 +344.78sINFOobjective_server_node_main-26process started with pid [13526] ×2 +344.78sINFOcomponent_container_mt-27process started with pid [13527] ×2 +344.78sINFOcomponent_container_mt-28process started with pid [13528] ×2 +344.78sINFOexecute_objective_bridge-29process started with pid [13547] ×2 +344.78sINFOui_teleop_bridge-30process started with pid [13548] ×2 +344.78sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. +344.78sINFOweb_bridge-31process started with pid [13549] ×2 +344.78sINFOtf2_web_republisher_node-32process started with pid [13550] ×2 +344.78sINFOweb_video_server-33process started with pid [13551] ×2 +344.78sINFOweb_bridge_auth_proxy-34process started with pid [13552] ×2 +344.78sINFOweb_video_auth_proxy-35process started with pid [13553] ×2 +344.79sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +344.79sINFOcomponent_container_isolated-1process started with pid [13387] ×2 +344.79sINFOstatic_transform_publisher-2process started with pid [13388] ×2 +344.79sINFOodom_world_drift.py-3process started with pid [13389] ×2 +344.79sINFOslip_aware_odom-4process started with pid [13390] ×2 +344.79sINFOodom_qos_relay.py-5process started with pid [13391] ×2 +344.79sINFOscan_to_scan_filter_chain-6process started with pid [13392] ×2 +344.79sINFOscan_to_scan_filter_chain-7process started with pid [13393] ×2 +344.79sINFOfixed_lag_smoother_node-8process started with pid [13394] ×2 +344.79sINFOros2-10process started with pid [13466] ×2 +344.79sINFOros2-11process started with pid [13467] ×2 +344.79sINFOros2-12process started with pid [13468] ×2 +344.79sINFOros2-13process started with pid [13469] ×2 +344.79sINFOros2-14process started with pid [13470] ×2 +344.79sINFOros2-15process started with pid [13477] ×2 +344.79sINFOros2-16process started with pid [13479] ×2 +344.79sINFOros2-17process started with pid [13480] ×2 +344.79sINFOros2-18process started with pid [13481] ×2 +344.79sINFOros2-19process started with pid [13482] ×2 +344.79sINFOros2-20process started with pid [13483] ×2 +344.82sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +344.85sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +344.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +344.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687188 ms (missed cycles : 2). +344.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687188 ms (missed cycles : 2).[0m ×2 +344.92sINFOcontroller_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. +344.94sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +344.99sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +344.99sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +345.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +345.03sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +345.05sINFOcontroller_serverCreating controller server +345.08sINFOlocal_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. +345.09sINFOlocal_costmap.local_costmapCreating Costmap +345.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +345.15sINFOrobot_state_publisherRobot initialized +345.15sINFOcontroller_managerReceived robot description from topic. +345.15sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +345.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +345.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +345.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +345.17sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +345.19sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +345.21sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +345.23sINFOmap_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. +345.23sINFOmap_serverCreating +345.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +345.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +345.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +345.26sINFOsmoother_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. +345.27sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +345.27sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +345.28sINFOsmoother_serverCreating smoother server +345.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +345.29sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +345.29sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +345.36sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +345.37sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +345.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +345.37sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +345.41sINFOplanner_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. +345.42sINFOplanner_serverCreating +345.45sINFOglobal_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. +345.46sINFOglobal_costmap.global_costmapCreating Costmap +345.47sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +345.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +345.47sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +345.49sINFOlifecycle_manager_localizationCreating +345.50sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +345.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +345.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +345.51sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +345.52sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +345.52sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +345.52sINFOmap_serverConfiguring +345.52sINFObehavior_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. +345.55sWARNlaser_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. +345.55sWARNlaser_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. +345.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +345.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +345.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +345.63sINFObt_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. +345.66sINFObt_navigatorCreating +345.66sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +345.66sINFOamclConfiguring +345.66sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +345.66sINFOmap_serverActivating +345.67sINFOmap_serverCreating bond (map_server) to lifecycle manager. +345.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +345.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +345.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +345.73sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.516275 seconds +345.73sINFOwaypoint_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. +345.73sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +345.73sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +345.73sINFOmove_groupLoaded robot model in 0.516275 seconds[0m ×2 +345.73sINFOwaypoint_followerCreating +345.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +345.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +345.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +345.79sINFOlifecycle_manager_localizationServer map_server connected with bond. +345.79sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +345.79sINFOamclActivating +345.79sINFOamclSubscribed to initial_pose_topic: /initialpose +345.80sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +345.81sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +345.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +345.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +345.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +345.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +345.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +345.82sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +345.82sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +345.82sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +345.82sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 +345.83sINFOamclSubscribed to map_topic: /map +345.83sINFOamclSubscribed to scan_topic: /scan_merged +345.84sINFOamclCreated reinitialize_global_localization service +345.84sINFOamclCreated request_nomotion_update service +345.84sINFOamclA new map was received +345.84sINFOamclInitializing particle filter instance +345.85sINFOlifecycle_manager_navigationCreating +345.86sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +345.89sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +345.90sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +345.90sINFOcontroller_serverConfiguring controller interface +345.90sINFOcontroller_servergetting progress checker plugins.. +345.90sINFOcontroller_servergetting goal checker plugins.. +345.90sINFOcontroller_serverController frequency set to 20.0000Hz +345.90sINFOlocal_costmap.local_costmapConfiguring +345.92sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +345.93sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +345.99sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +345.99sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +345.99sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +346.04sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +346.04sINFOcontroller_serverController Server has progress_checker progress checkers available. +346.04sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +346.06sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +346.06sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +346.10sINFOwaypoint_manager_nodeLoaded robot model in 0.434364 seconds[0m ×2 +346.12sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +346.15sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +346.15sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +346.16sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +346.16sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +346.18sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +346.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +346.18sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +346.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +346.20sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +346.20sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +346.21sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +346.21sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +346.21sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +346.22sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +346.22sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +346.22sINFOcontroller_serverOptimizer reset +346.23sINFOcontroller_serverController Server has FollowPath controllers available. +346.25sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +346.25sINFOsmoother_serverConfiguring smoother server +346.27sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +346.27sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +346.29sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +346.29sINFOplanner_serverConfiguring +346.29sINFOglobal_costmap.global_costmapConfiguring +346.30sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +346.31sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +346.32sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +346.32sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +346.32sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +346.32sINFOamclParticle filter initialization completed +346.32sINFOamclInitializing particles from estimated pose and covariance +346.32sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 +346.37sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +346.37sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +346.37sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +346.39sFATALplanner_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 +346.39sINFOplanner_serverCleaning up +346.39sINFOglobal_costmap.global_costmapCleaning up +346.39sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +346.41sINFOlifecycle_manager_localizationServer amcl connected with bond. +346.41sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +346.41sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +346.43sINFOamclThe bond connection to the lifecycle manager is now fully formed +346.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146651 ms (missed cycles : 2). +346.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146651 ms (missed cycles : 2).[0m ×2 +346.48sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +346.48sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +346.75sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +346.75sWARNmove_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. +346.75sWARNmove_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. +346.75sWARNmove_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. +346.75sWARNmove_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. +346.75sWARNmove_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. +346.75sWARNmove_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. +346.75sWARNmove_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. +346.75sWARNmove_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. +346.75sWARNmove_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. +346.75sWARNmove_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. +346.80sWARNwaypoint_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. +346.80sWARNwaypoint_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. +346.80sWARNwaypoint_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. +346.80sWARNwaypoint_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. +346.80sWARNwaypoint_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. +346.80sWARNwaypoint_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. +346.80sWARNwaypoint_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. +346.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +346.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +346.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +346.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +346.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +346.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +346.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +346.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +346.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +346.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +346.80sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +346.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +346.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +346.81sWARNwaypoint_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. +346.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +346.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +346.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +346.82sWARNwaypoint_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. +346.82sWARNwaypoint_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. +346.82sWARNwaypoint_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. +346.82sWARNwaypoint_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. +347.00sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +347.00sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +347.06sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +347.42sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +347.42sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +347.43sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +347.43sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +347.43sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +347.43sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +347.44sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +347.44sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +347.44sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +347.44sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +347.45sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +347.82sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +347.82sINFOcontroller_managerActivating component 'ur_mujoco_control'. +347.83sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +347.83sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +347.87sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +347.87sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +347.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +347.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +347.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +347.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +347.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +347.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +347.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +347.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +347.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +347.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +347.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +347.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +347.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +347.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +347.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +347.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +347.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +347.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +348.02sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +348.06sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +348.06sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +348.24sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve +348.24sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve [0m ×2 +348.25sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +348.25sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +348.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374440 ms (missed cycles : 2). +348.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374440 ms (missed cycles : 2).[0m ×2 +348.29sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +348.29sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +348.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +348.38sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +348.41sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +348.41sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +348.41sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +348.41sINFOstreaming_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) +348.42sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +348.52sINFOobjective_server_node[2026-07-17 18:56:28.243] [moveit_pro_license] [info] ×2 +348.61sINFOobjective_server_nodeLoaded robot model in 0.0291217 seconds[0m ×2 +348.62sINFOcomponent_container_mtLoaded robot model in 0.352751 seconds[0m ×2 +348.70sINFOros2_control_node[2026-07-17 18:56:28.415] [info] Controller state will be published at 20 Hz. ×2 +348.70sINFOros2_control_node[2026-07-17 18:56:28.418] [info] JointVelocityController 'on_configure' succeeded. ×2 +348.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +348.72sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +348.74sINFOstreaming_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) +349.07sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +349.08sWARNobjective_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. +349.08sWARNobjective_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. +349.08sWARNobjective_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. +349.08sWARNobjective_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. +349.08sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784314587.683 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +349.08sWARNobjective_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. +349.08sWARNobjective_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. +349.08sWARNobjective_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. +349.08sWARNobjective_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. +349.09sWARNobjective_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. +349.09sWARNobjective_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. +349.09sWARNplanning_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. +349.09sWARNplanning_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. +349.09sWARNplanning_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. +349.09sWARNplanning_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. +349.10sWARNplanning_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. +349.10sWARNplanning_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. +349.10sWARNplanning_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. +349.10sWARNplanning_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. +349.10sWARNplanning_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. +349.10sWARNplanning_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. +349.10sWARNplanning_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. +349.10sWARNplanning_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. +349.11sWARNplanning_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. +349.11sWARNplanning_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. +349.11sWARNplanning_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. +349.11sWARNplanning_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. +349.11sWARNplanning_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. +349.11sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +349.11sINFOcontroller_managerLoading controller 'joint_velocity_controller' +349.11sWARNplanning_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. +349.11sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve +349.11sWARNplanning_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. +349.12sWARNplanning_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. +349.12sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve [0m ×2 +349.12sWARNplanning_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. +349.12sWARNplanning_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. +349.12sWARNplanning_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. +349.12sWARNplanning_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. +349.13sWARNplanning_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. +349.13sWARNplanning_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. +349.13sWARNplanning_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. +349.13sWARNplanning_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. +349.16sINFOmove_groupMoveGroup debug mode is ON +349.17sINFOros2-20process has finished cleanly [pid 13483] ×2 +349.22sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +349.23sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +349.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772024 ms (missed cycles : 3). +349.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772024 ms (missed cycles : 3).[0m ×2 +349.36sINFOmove_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
********************************************************
+349.43sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +349.62sINFOros2_control_node[2026-07-17 18:56:29.343] [info] Controller state will be published at 20 Hz. ×2 +349.62sINFOros2_control_node[2026-07-17 18:56:29.344] [info] JointVelocityController 'on_configure' succeeded. ×2 +349.95sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +349.95sINFOcontroller_managerLoading controller 'velocity_force_controller' +350.00sINFOros2-19process has finished cleanly [pid 13482] ×2 +350.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve +350.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve [0m ×2 +350.16sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +350.17sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +350.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065703 ms (missed cycles : 4). +350.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065703 ms (missed cycles : 4).[0m ×2 +350.51sINFOros2_control_node[2026-07-17 18:56:30.229] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +350.51sINFOros2_control_node[2026-07-17 18:56:30.233] [info] Controller state will be published at 10 Hz. ×2 +350.51sINFOros2_control_node[2026-07-17 18:56:30.234] [info] VelocityForceController 'on_configure' succeeded. ×2 +350.86sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +350.86sINFOcontroller_managerLoading controller 'platform_velocity_controller' +350.87sINFOros2-17process has finished cleanly [pid 13480] ×2 +350.87sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve +350.87sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve [0m ×2 +350.94sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +350.94sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +350.94sINFOplatform_velocity_controllerconfigure successful +350.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +350.95sINFOcontroller_managerSuccessfully switched controllers! ×8 +350.95sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +351.28sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +351.28sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +351.29sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve +351.29sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve [0m ×2 +351.31sINFOros2-13process has finished cleanly [pid 13469] ×2 +351.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659643 ms (missed cycles : 3). +351.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659643 ms (missed cycles : 3).[0m ×2 +351.43sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +351.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +351.44sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +351.44sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +351.44sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +351.44sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +351.45sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +351.67sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784314590.283 for reason 'discarding message because the queue is full' +351.77sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +351.77sINFOcontroller_managerLoading controller 'vacuum_gripper' +351.77sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve +351.77sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve [0m ×2 +351.79sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +351.80sINFOros2-16process has finished cleanly [pid 13479] ×2 +351.83sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +351.83sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +351.83sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +351.84sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +351.85sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +352.19sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +352.19sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +352.19sINFOros2-14process has finished cleanly [pid 13470] ×2 +352.19sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve +352.19sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve [0m ×2 +352.26sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +352.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +352.27sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +352.28sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +352.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366588 ms (missed cycles : 2). +352.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366588 ms (missed cycles : 2).[0m ×2 +352.60sINFOros2-11process has finished cleanly [pid 13467] ×2 +352.64sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +352.66sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +352.66sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +352.66sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve +352.67sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve [0m ×2 +352.69sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +352.69sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +353.26sINFOros2_control_node[2026-07-17 18:56:32.986] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +353.27sINFOros2_control_node[2026-07-17 18:56:32.988] [info] Controller state will be published at 10 Hz. ×2 +353.27sINFOros2_control_node[2026-07-17 18:56:32.989] [info] VelocityForceController 'on_configure' succeeded. ×2 +353.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072223 ms (missed cycles : 2). +353.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072223 ms (missed cycles : 2).[0m ×2 +353.62sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +353.62sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +353.63sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve +353.63sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve [0m ×2 +353.63sINFOros2-18process has finished cleanly [pid 13481] ×2 +353.70sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +353.70sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +353.71sINFOforce_torque_sensor_broadcasterconfigure successful +353.71sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +353.71sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +354.07sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +354.07sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +354.08sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve +354.08sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve [0m ×2 +354.08sINFOros2-10process has finished cleanly [pid 13466] ×2 +354.15sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +354.17sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +354.17sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +354.17sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +354.17sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +354.18sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +354.18sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +354.28sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784314592.883 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +354.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.835ms +354.53sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +354.53sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +354.53sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve +354.53sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_q5tavhz6 --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_ytntdmmm --params-file /tmp/launch_params_fuza85ve [0m ×2 +354.54sINFOros2-12process has finished cleanly [pid 13468] ×2 +354.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861109 ms (missed cycles : 3). +354.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861109 ms (missed cycles : 3).[0m ×2 +354.62sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +354.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +354.62sINFOplatform_velocity_controller_nav2configure successful +355.02sINFOros2-15process has finished cleanly [pid 13477] ×2 +355.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914666 ms (missed cycles : 2). +355.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914666 ms (missed cycles : 2).[0m ×2 +356.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108239 ms (missed cycles : 5). +356.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108239 ms (missed cycles : 5).[0m ×2 +357.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). +357.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 +357.88sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +358.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). +358.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 +359.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). +359.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 +359.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 +359.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +359.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +359.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 +360.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 +360.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 +360.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). +360.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 +361.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 +361.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 +361.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 +361.82sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] +361.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +361.82sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 +361.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] +361.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 +361.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +361.86sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] +361.86sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 +361.86sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] +361.86sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 +361.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 +361.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). +361.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 +362.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 +362.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +362.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +362.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 24 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914666 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108239 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108239 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 4.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.31sINFOmove_groupClearing octomap...[0m ×2 + 4.32sINFOmove_groupOctomap cleared.[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 4.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 6.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.19sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 6.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.20sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 6.23sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 6.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 6.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 6.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108239 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108239 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 1.18sINFOros2_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 3.065578 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 5.11sINFOobjective_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 + 5.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.11sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.11sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.12sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.16sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.16sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 6.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914666 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108239 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108239 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 4.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.31sINFOmove_groupClearing octomap...[0m ×2 + 4.32sINFOmove_groupOctomap cleared.[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 4.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 6.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.19sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 6.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.20sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 6.23sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.24sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 6.24sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 6.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 6.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108239 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108239 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 1.18sINFOros2_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 3.065578 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 5.11sINFOobjective_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 + 5.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.11sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.11sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.12sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.16sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.16sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 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 8.108239 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108239 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 1.18sINFOros2_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 3.065578 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 5.11sINFOobjective_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 + 5.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.11sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.11sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.12sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.16sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.16sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 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 8.108239 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108239 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 1.18sINFOros2_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 3.065578 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 5.11sINFOobjective_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 + 5.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.11sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.11sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.12sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.16sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.16sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934633 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934633 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873901 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065578 ms (missed cycles : 2).[0m ×2 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712535 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784314599.66098332 seconds. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784314599.68084955 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784314600.23562050 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784314600.24576855 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897934 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784314600.79304218 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784314600.94408274 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784314601.51668167 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784314601.59682894 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015001 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784314602.14681840 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728506 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747291 ms (missed cycles : 3).[0m ×2 | ||||