69
Total objective tests
15
Objectives passed
2
Objectives failed
52
Objectives skipped
19.5s
Avg test time
88%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives2 fail10 pass25 skip
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 32.7s | 6 errors · 121 warnings · 208 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883523 ms (missed cycles : 4). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883523 ms (missed cycles : 4).[0m ×2 + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms ×2 + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510807 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510807 ms (missed cycles : 3).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513756 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513756 ms (missed cycles : 4).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520187 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520187 ms (missed cycles : 3).[0m ×2 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 3.70sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.71sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784477488.58581805 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.360ms + 4.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.762ms + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.132226 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.132226 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784477489.15712237 seconds. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.42sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.197ms + 4.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.808ms + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.71sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 2.078ms + 4.82sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.527ms + 5.01sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.367ms + 5.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209355 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209355 ms (missed cycles : 2).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms ×2 + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 5.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 5.95sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.95sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.95sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.184ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866446 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866446 ms (missed cycles : 2).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 6.57sWARNstate_estimatorOptimization exceeded the configured duration by 100622240ns + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 6.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 7.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.857054 ms (missed cycles : 6). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.857054 ms (missed cycles : 6).[0m ×2 + 7.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 7.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms ×3 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.036599 ms (missed cycles : 8). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.036599 ms (missed cycles : 8).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.209ms ×2 + 9.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133922 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133922 ms (missed cycles : 2).[0m ×2 + 9.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 9.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 10.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 10.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755991 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755991 ms (missed cycles : 3).[0m ×2 + 10.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 10.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 11.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041873 ms (missed cycles : 3). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041873 ms (missed cycles : 3).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms + 11.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 12.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 12.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990526 ms (missed cycles : 3). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990526 ms (missed cycles : 3).[0m ×2 + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 13.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 13.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 13.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.863121 ms (missed cycles : 6). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.863121 ms (missed cycles : 6).[0m ×2 + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 13.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 14.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 14.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949734 ms (missed cycles : 5). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949734 ms (missed cycles : 5).[0m ×2 + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 15.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004696 ms (missed cycles : 2). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004696 ms (missed cycles : 2).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.121ms + 16.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.153ms + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.130ms + 16.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934235 ms (missed cycles : 3). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934235 ms (missed cycles : 3).[0m ×2 + 16.66sWARNstate_estimatorOptimization exceeded the configured duration by 86523431ns + 16.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 17.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 17.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.194ms + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734912 ms (missed cycles : 4). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734912 ms (missed cycles : 4).[0m ×2 + 17.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 18.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083487 ms (missed cycles : 2). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083487 ms (missed cycles : 2).[0m ×2 + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.739ms + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943000 ms (missed cycles : 2). + 19.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943000 ms (missed cycles : 2).[0m ×2 + 19.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 19.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms ×2 + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.759ms + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 20.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082220 ms (missed cycles : 3). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082220 ms (missed cycles : 3).[0m ×2 + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 21.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 21.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.806ms + 21.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724380 ms (missed cycles : 2). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724380 ms (missed cycles : 2).[0m ×2 + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms ×2 + 22.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 22.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815906 ms (missed cycles : 3). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815906 ms (missed cycles : 3).[0m ×2 + 22.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 23.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 23.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.099ms + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.156ms + 23.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881750 ms (missed cycles : 3). + 23.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881750 ms (missed cycles : 3).[0m ×2 + 23.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms ×3 + 24.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 24.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.261ms + 24.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553725 ms (missed cycles : 3). + 24.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553725 ms (missed cycles : 3).[0m ×2 + 25.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.117ms + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.821ms + 25.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 25.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898053 ms (missed cycles : 3). + 25.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898053 ms (missed cycles : 3).[0m ×2 + 25.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 26.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 26.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 26.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 26.71sWARNstate_estimatorOptimization exceeded the configured duration by 35723593ns + 26.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636835 ms (missed cycles : 4). + 26.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636835 ms (missed cycles : 4).[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 27.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms ×2 + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606182 ms (missed cycles : 3). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606182 ms (missed cycles : 3).[0m ×2 + 28.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.181ms + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 28.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.355ms + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257186 ms (missed cycles : 2). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257186 ms (missed cycles : 2).[0m ×2 + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.266ms + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 29.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195989 ms (missed cycles : 3). + 29.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195989 ms (missed cycles : 3).[0m ×2 + 30.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.364ms + 30.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 30.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.652313 ms (missed cycles : 4). + 30.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.652313 ms (missed cycles : 4).[0m ×2 + 31.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 31.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.047ms + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 31.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087181 ms (missed cycles : 3). + 31.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087181 ms (missed cycles : 3).[0m ×2 + 32.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 33.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103282 ms (missed cycles : 3). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103282 ms (missed cycles : 3).[0m ×2 + 33.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 33.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.809ms + 34.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011415 ms (missed cycles : 3). + 34.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011415 ms (missed cycles : 3).[0m ×2 + 35.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.572924 ms (missed cycles : 7). + 35.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.572924 ms (missed cycles : 7).[0m ×2 + 36.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179782 ms (missed cycles : 4). + 36.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179782 ms (missed cycles : 4).[0m ×2 + 36.43sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 36.44sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 36.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784477521.27737236 seconds ×3 + 36.73sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 1.639ms + 36.79sWARNstate_estimatorOptimization exceeded the configured duration by 21434336ns + 36.82sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 1.995ms + 37.12sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 2.347ms + 37.12sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784477521.95569897 seconds. ×3 + 37.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969447 ms (missed cycles : 2). + 37.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969447 ms (missed cycles : 2).[0m ×2 + 37.30sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 1.530ms + 37.42sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 1.311ms + 37.51sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 1.412ms + 37.53sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 37.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 37.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 38.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 38.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.721ms + 38.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954027 ms (missed cycles : 3). + 38.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954027 ms (missed cycles : 3).[0m ×2 + 38.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 38.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.695ms + 38.72sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.569ms + 38.99sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.623ms + 39.11sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.583ms + 39.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.647499 ms (missed cycles : 6). + 39.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.647499 ms (missed cycles : 6).[0m ×2 + 39.33sINFOros2_control_nodeMuJoCo sim: 1.07% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 39.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 30.8s | 9 errors · 115 warnings · 211 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908981 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908981 ms (missed cycles : 2).[0m ×2 + 0.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.936553 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.936553 ms (missed cycles : 6).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922110 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922110 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657879 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657879 ms (missed cycles : 4).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 3.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms ×3 + 3.50sWARNstate_estimatorOptimization exceeded the configured duration by 35795003ns + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 3.87sINFOjoint_trajectory_controllerGot request to cancel goal + 3.87sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.87sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.87sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784477532.02392936 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.290ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.847730 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.847730 ms (missed cycles : 6).[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 4.29sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.056ms + 4.43sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784477532.58044052 seconds. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.50sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.494ms + 4.71sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.128ms + 4.79sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 2.400ms + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.89sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.294ms + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924944 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924944 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.417ms + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms ×2 + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 6.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976639 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976639 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 6.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 6.14sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.14sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.14sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.119ms + 6.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 7.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140477 ms (missed cycles : 5). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140477 ms (missed cycles : 5).[0m ×2 + 7.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 7.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 7.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577068 ms (missed cycles : 4). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577068 ms (missed cycles : 4).[0m ×2 + 8.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms ×3 + 9.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166175 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166175 ms (missed cycles : 2).[0m ×2 + 9.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 9.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.117ms + 9.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 10.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969508 ms (missed cycles : 3). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969508 ms (missed cycles : 3).[0m ×2 + 10.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 10.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 10.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.821ms + 11.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 11.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066942 ms (missed cycles : 3). + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066942 ms (missed cycles : 3).[0m ×2 + 11.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms ×2 + 12.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.124ms + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060668 ms (missed cycles : 5). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060668 ms (missed cycles : 5).[0m ×2 + 12.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 12.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 12.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.804ms + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117189 ms (missed cycles : 5). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117189 ms (missed cycles : 5).[0m ×2 + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms + 13.57sWARNstate_estimatorOptimization exceeded the configured duration by 11880385ns + 13.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.196ms + 13.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.105ms + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811467 ms (missed cycles : 3). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811467 ms (missed cycles : 3).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.774ms + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms ×2 + 14.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 15.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187682 ms (missed cycles : 2). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187682 ms (missed cycles : 2).[0m ×2 + 15.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 15.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851571 ms (missed cycles : 3). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851571 ms (missed cycles : 3).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.766ms + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083189 ms (missed cycles : 3). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083189 ms (missed cycles : 3).[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 17.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.283ms + 18.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505785 ms (missed cycles : 2). + 18.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505785 ms (missed cycles : 2).[0m ×2 + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.191ms + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.083ms ×2 + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894512 ms (missed cycles : 2). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894512 ms (missed cycles : 2).[0m ×2 + 19.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 19.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.788513 ms (missed cycles : 9). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.788513 ms (missed cycles : 9).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms + 20.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms ×3 + 21.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 21.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 21.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms + 21.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687744 ms (missed cycles : 2). + 21.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687744 ms (missed cycles : 2).[0m ×2 + 21.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms ×2 + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228123 ms (missed cycles : 2). + 22.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228123 ms (missed cycles : 2).[0m ×2 + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 22.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 23.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.294ms + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563954 ms (missed cycles : 4). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563954 ms (missed cycles : 4).[0m ×2 + 23.64sWARNstate_estimatorOptimization exceeded the configured duration by 81922649ns + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 24.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 24.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953185 ms (missed cycles : 2). + 24.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953185 ms (missed cycles : 2).[0m ×2 + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms ×2 + 24.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms ×2 + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 25.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732998 ms (missed cycles : 3). + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732998 ms (missed cycles : 3).[0m ×2 + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms + 26.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 26.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 26.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712355 ms (missed cycles : 3). + 26.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712355 ms (missed cycles : 3).[0m ×2 + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 27.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.251ms + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207231 ms (missed cycles : 4). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207231 ms (missed cycles : 4).[0m ×2 + 27.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 27.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 28.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498426 ms (missed cycles : 2). + 28.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498426 ms (missed cycles : 2).[0m ×2 + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 28.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 29.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.184ms + 29.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037681 ms (missed cycles : 3). + 29.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037681 ms (missed cycles : 3).[0m ×2 + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.110ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 30.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 30.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3). + 30.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3).[0m ×2 + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 31.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3). + 31.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3).[0m ×2 + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 32.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3). + 32.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3).[0m ×2 + 33.38sINFOjoint_trajectory_controllerGoal reached, success! + 33.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 33.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 33.90sWARNstate_estimatorOptimization exceeded the configured duration by 241388203ns + 33.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2). + 33.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2).[0m ×2 + 34.65sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 34.65sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 34.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784477562.80062985 seconds ×3 + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3).[0m ×2 + 35.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784477563.41309786 seconds. ×3 + 35.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 35.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 35.67sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 35.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 36.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2). + 36.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2).[0m ×2 + 36.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 36.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 36.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 36.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 36.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 36.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 37.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3). + 37.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3).[0m ×2 + 37.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 37.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.8s | 192 warnings · 250 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324265 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324265 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784477391.73290610 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 0.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784477392.29142761 seconds. ×3 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011170 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011170 ms (missed cycles : 4).[0m ×2 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (2.6821e-05 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.53sINFOobjective_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371608 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371608 ms (missed cycles : 5).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549569 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549569 ms (missed cycles : 4).[0m ×2 + 3.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms + 3.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784477395.36161160 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804480 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804480 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784477395.92448211 seconds. ×3 + 4.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 4.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.737ms ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865809 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865809 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072150 ms (missed cycles : 6). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072150 ms (missed cycles : 6).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576522 ms (missed cycles : 4). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576522 ms (missed cycles : 4).[0m ×2 + 7.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 7.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 8.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.766ms + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.328054 ms (missed cycles : 8). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.328054 ms (missed cycles : 8).[0m ×2 + 8.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 8.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 9.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms ×2 + 9.25sWARNstate_estimatorOptimization exceeded the configured duration by 49283932ns + 9.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.778259 ms (missed cycles : 6). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.778259 ms (missed cycles : 6).[0m ×2 + 9.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 9.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 10.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 10.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051565 ms (missed cycles : 6). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.051565 ms (missed cycles : 6).[0m ×2 + 11.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 11.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687427 ms (missed cycles : 2). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687427 ms (missed cycles : 2).[0m ×2 + 11.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 11.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms ×2 + 11.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 12.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 12.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.746ms + 12.44sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163131 ms (missed cycles : 2). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163131 ms (missed cycles : 2).[0m ×2 + 12.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 12.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 12.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.796ms + 13.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 13.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.760ms ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420951 ms (missed cycles : 4). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420951 ms (missed cycles : 4).[0m ×2 + 13.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.765ms ×2 + 13.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms ×2 + 14.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms ×2 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490002 ms (missed cycles : 4). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490002 ms (missed cycles : 4).[0m ×2 + 14.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 14.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 15.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.669ms + 15.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.113640 ms (missed cycles : 4). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.113640 ms (missed cycles : 4).[0m ×2 + 15.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.775ms + 15.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 16.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 16.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.695ms + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445817 ms (missed cycles : 3). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445817 ms (missed cycles : 3).[0m ×2 + 16.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.703ms + 16.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 17.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.699ms + 17.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms + 17.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3). + 17.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3).[0m ×2 + 17.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.661ms + 18.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.759ms + 18.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 18.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301944 ms (missed cycles : 2). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301944 ms (missed cycles : 2).[0m ×2 + 18.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.704ms ×2 + 18.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 19.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 19.25sWARNstate_estimatorOptimization exceeded the configured duration by 52018043ns + 19.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.707ms + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894648 ms (missed cycles : 2). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894648 ms (missed cycles : 2).[0m ×2 + 19.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 20.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 20.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 20.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.688ms + 20.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009338 ms (missed cycles : 2). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009338 ms (missed cycles : 2).[0m ×2 + 20.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 20.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 21.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.741ms + 21.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 21.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.715ms + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021397 ms (missed cycles : 3). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021397 ms (missed cycles : 3).[0m ×2 + 21.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.708ms + 22.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 22.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218029 ms (missed cycles : 5). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218029 ms (missed cycles : 5).[0m ×2 + 23.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 23.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.750ms + 23.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379761 ms (missed cycles : 2). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379761 ms (missed cycles : 2).[0m ×2 + 23.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.743ms + 24.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 24.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.683ms + 24.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 24.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073089 ms (missed cycles : 2). + 24.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073089 ms (missed cycles : 2).[0m ×2 + 25.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 25.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.770ms + 25.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 25.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 25.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896545 ms (missed cycles : 3). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896545 ms (missed cycles : 3).[0m ×2 + 26.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.228ms + 26.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 26.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms ×2 + 26.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.701ms + 26.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800433 ms (missed cycles : 3). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800433 ms (missed cycles : 3).[0m ×2 + 27.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.740ms + 27.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.181ms + 27.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms ×2 + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549487 ms (missed cycles : 2). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549487 ms (missed cycles : 2).[0m ×2 + 27.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 28.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.131ms + 28.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 28.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 28.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817843 ms (missed cycles : 2). + 28.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817843 ms (missed cycles : 2).[0m ×2 + 29.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.732ms + 29.31sWARNstate_estimatorOptimization exceeded the configured duration by 11667763ns + 29.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 29.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 29.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.748ms + 29.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812085 ms (missed cycles : 2). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812085 ms (missed cycles : 2).[0m ×2 + 30.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 30.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 30.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 30.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 30.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545967 ms (missed cycles : 3). + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545967 ms (missed cycles : 3).[0m ×2 + 31.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.758ms + 31.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.772ms + 31.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 31.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.069ms + 31.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.938633 ms (missed cycles : 6). + 31.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.938633 ms (missed cycles : 6).[0m ×2 + 32.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.768ms + 32.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms ×2 + 32.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 32.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 32.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.183ms + 33.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297361 ms (missed cycles : 2). + 33.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297361 ms (missed cycles : 2).[0m ×2 + 33.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.728ms + 33.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.235ms + 34.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198181 ms (missed cycles : 3). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198181 ms (missed cycles : 3).[0m ×2 + 34.91sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591169 ms (missed cycles : 3). + 35.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591169 ms (missed cycles : 3).[0m ×2 + 36.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043326 ms (missed cycles : 3). + 36.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043326 ms (missed cycles : 3).[0m ×2 + 36.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 37.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931287 ms (missed cycles : 3). + 37.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931287 ms (missed cycles : 3).[0m ×2 + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180168 ms (missed cycles : 2). + 38.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180168 ms (missed cycles : 2).[0m ×2 + 38.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 39.36sWARNstate_estimatorOptimization exceeded the configured duration by 62539310ns + 39.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773114 ms (missed cycles : 3). + 39.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773114 ms (missed cycles : 3).[0m ×2 + 39.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 40.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.326359 ms (missed cycles : 5). + 40.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.326359 ms (missed cycles : 5).[0m ×2 + 41.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 41.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.368171 ms (missed cycles : 6). + 41.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.368171 ms (missed cycles : 6).[0m ×2 + 41.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 42.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332636 ms (missed cycles : 4). + 42.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332636 ms (missed cycles : 4).[0m ×2 + 43.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.394724 ms (missed cycles : 4). + 43.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.394724 ms (missed cycles : 4).[0m ×2 + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630528 ms (missed cycles : 4). + 44.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630528 ms (missed cycles : 4).[0m ×2 + 44.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 45.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms ×2 + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749327 ms (missed cycles : 4). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749327 ms (missed cycles : 4).[0m ×2 + 46.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011736 ms (missed cycles : 3). + 46.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011736 ms (missed cycles : 3).[0m ×2 + 47.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 47.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207953 ms (missed cycles : 3). + 47.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207953 ms (missed cycles : 3).[0m ×2 + 48.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.786ms + 48.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724600 ms (missed cycles : 4). + 48.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724600 ms (missed cycles : 4).[0m ×2 + 49.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms ×2 + 49.41sWARNstate_estimatorOptimization exceeded the configured duration by 14995149ns + 49.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895592 ms (missed cycles : 2). + 49.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895592 ms (missed cycles : 2).[0m ×2 + 50.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934102 ms (missed cycles : 2). + 50.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934102 ms (missed cycles : 2).[0m ×2 + 51.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.788ms + 51.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238839 ms (missed cycles : 2). + 51.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238839 ms (missed cycles : 2).[0m ×2 + 52.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 52.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407136 ms (missed cycles : 3). + 52.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407136 ms (missed cycles : 3).[0m ×2 + 53.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934443 ms (missed cycles : 3). + 53.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934443 ms (missed cycles : 3).[0m ×2 + 54.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 55.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.836492 ms (missed cycles : 6). + 55.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.836492 ms (missed cycles : 6).[0m ×2 + 55.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.169ms + 55.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 56.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936262 ms (missed cycles : 3). + 56.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936262 ms (missed cycles : 3).[0m ×2 + 56.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 57.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3). + 57.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3).[0m ×2 + 58.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034258 ms (missed cycles : 6). + 58.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034258 ms (missed cycles : 6).[0m ×2 + 58.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.767ms + 59.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.921125 ms (missed cycles : 8). + 59.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.921125 ms (missed cycles : 8).[0m ×2 + 59.51sWARNstate_estimatorOptimization exceeded the configured duration by 15204055ns + 60.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153916 ms (missed cycles : 2). + 60.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153916 ms (missed cycles : 2).[0m ×2 + 60.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784477452.13463235 seconds ×3 + 60.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.197ms + 60.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 60.94sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.182ms + 60.99sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784477452.70459294 seconds. ×3 + 61.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.580761 ms (missed cycles : 7). + 61.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.580761 ms (missed cycles : 7).[0m ×2 + 61.24sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.657ms + 61.36sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 61.38sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.44sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 2.361ms + 61.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.144ms + 62.22sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.999ms + 62.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.091694 ms (missed cycles : 7). + 62.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.091694 ms (missed cycles : 7).[0m ×2 + 62.63sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.630ms + 63.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 63.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557687 ms (missed cycles : 4). + 63.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557687 ms (missed cycles : 4).[0m ×2 + 63.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.3s | 6 errors · 189 warnings · 236 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3).[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.60sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 3.12sWARNstate_estimatorOptimization exceeded the configured duration by 241388203ns + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.87sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784477562.80062985 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784477563.41309786 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms ×2 + 4.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 4.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 5.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 5.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 6.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3).[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.29sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.29sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms ×2 + 6.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.774ms ×2 + 7.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.679ms + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914654 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914654 ms (missed cycles : 2).[0m ×2 + 7.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 7.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 7.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 7.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 8.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.379509 ms (missed cycles : 6). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.379509 ms (missed cycles : 6).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 9.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760111 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760111 ms (missed cycles : 2).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 9.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.700ms + 10.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms ×2 + 10.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120283 ms (missed cycles : 4). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120283 ms (missed cycles : 4).[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 11.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959814 ms (missed cycles : 3). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959814 ms (missed cycles : 3).[0m ×2 + 11.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.648ms + 12.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.636ms + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018242 ms (missed cycles : 3). + 12.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.069ms + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018242 ms (missed cycles : 3).[0m ×2 + 12.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.714ms + 13.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 13.14sWARNstate_estimatorOptimization exceeded the configured duration by 61431965ns + 13.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.740ms + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323376 ms (missed cycles : 4). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323376 ms (missed cycles : 4).[0m ×2 + 13.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 13.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.150ms + 14.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.037ms + 14.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418959 ms (missed cycles : 3). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418959 ms (missed cycles : 3).[0m ×2 + 14.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.137ms + 14.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms ×2 + 15.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 15.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.196ms + 15.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.771ms + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435892 ms (missed cycles : 3). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435892 ms (missed cycles : 3).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 15.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 16.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 16.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888801 ms (missed cycles : 3). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888801 ms (missed cycles : 3).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 17.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 17.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms + 17.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.706ms + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453528 ms (missed cycles : 3). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453528 ms (missed cycles : 3).[0m ×2 + 17.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 18.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms ×2 + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 18.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683154 ms (missed cycles : 2). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683154 ms (missed cycles : 2).[0m ×2 + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.677ms + 19.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.649ms + 19.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms ×2 + 19.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms ×2 + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933760 ms (missed cycles : 3). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933760 ms (missed cycles : 3).[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.645ms + 20.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702800 ms (missed cycles : 3). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702800 ms (missed cycles : 3).[0m ×2 + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 21.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.683ms + 21.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.720ms + 21.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.884936 ms (missed cycles : 6). + 21.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.884936 ms (missed cycles : 6).[0m ×2 + 22.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 22.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 22.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178454 ms (missed cycles : 4). + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178454 ms (missed cycles : 4).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.790ms + 23.17sWARNstate_estimatorOptimization exceeded the configured duration by 99883818ns + 23.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 23.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.739ms ×3 + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135766 ms (missed cycles : 2). + 23.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135766 ms (missed cycles : 2).[0m ×2 + 24.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.752ms + 24.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.708ms + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.807ms + 24.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661900 ms (missed cycles : 4). + 24.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661900 ms (missed cycles : 4).[0m ×2 + 25.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.127ms + 25.24sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 25.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.779ms + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 26.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311509 ms (missed cycles : 5). + 26.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311509 ms (missed cycles : 5).[0m ×2 + 26.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.748ms + 26.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 27.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 27.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787555 ms (missed cycles : 5). + 27.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787555 ms (missed cycles : 5).[0m ×2 + 27.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.285ms + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.777ms + 28.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323079 ms (missed cycles : 2). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323079 ms (missed cycles : 2).[0m ×2 + 28.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 28.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 29.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 29.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656164 ms (missed cycles : 4). + 29.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656164 ms (missed cycles : 4).[0m ×2 + 29.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 29.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.707ms + 29.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.743ms + 30.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227927 ms (missed cycles : 5). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227927 ms (missed cycles : 5).[0m ×2 + 30.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.734ms ×2 + 30.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms + 30.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 31.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 31.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.049ms + 31.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331211 ms (missed cycles : 5). + 31.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331211 ms (missed cycles : 5).[0m ×2 + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 31.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.760ms ×2 + 32.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066857 ms (missed cycles : 2). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066857 ms (missed cycles : 2).[0m ×2 + 32.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 33.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.770ms + 33.24sWARNstate_estimatorOptimization exceeded the configured duration by 62867637ns + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043091 ms (missed cycles : 3). + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043091 ms (missed cycles : 3).[0m ×2 + 33.61sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803028 ms (missed cycles : 3). + 34.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803028 ms (missed cycles : 3).[0m ×2 + 34.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 35.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754790 ms (missed cycles : 2). + 35.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754790 ms (missed cycles : 2).[0m ×2 + 35.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 36.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213661 ms (missed cycles : 3). + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213661 ms (missed cycles : 3).[0m ×2 + 37.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674839 ms (missed cycles : 4). + 37.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674839 ms (missed cycles : 4).[0m ×2 + 37.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 38.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.045257 ms (missed cycles : 5). + 38.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.045257 ms (missed cycles : 5).[0m ×2 + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.685768 ms (missed cycles : 5). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.685768 ms (missed cycles : 5).[0m ×2 + 39.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 40.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411023 ms (missed cycles : 4). + 40.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411023 ms (missed cycles : 4).[0m ×2 + 40.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 41.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677666 ms (missed cycles : 2). + 41.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677666 ms (missed cycles : 2).[0m ×2 + 42.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293290 ms (missed cycles : 2). + 42.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293290 ms (missed cycles : 2).[0m ×2 + 43.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 43.25sWARNstate_estimatorOptimization exceeded the configured duration by 74439521ns + 43.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.101143 ms (missed cycles : 6). + 43.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.101143 ms (missed cycles : 6).[0m ×2 + 43.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 44.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245663 ms (missed cycles : 3). + 44.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245663 ms (missed cycles : 3).[0m ×2 + 45.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 45.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747425 ms (missed cycles : 2). + 45.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747425 ms (missed cycles : 2).[0m ×2 + 46.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 46.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046077 ms (missed cycles : 2). + 46.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046077 ms (missed cycles : 2).[0m ×2 + 47.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 47.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716906 ms (missed cycles : 3). + 47.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716906 ms (missed cycles : 3).[0m ×2 + 48.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 48.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132132 ms (missed cycles : 2). + 48.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132132 ms (missed cycles : 2).[0m ×2 + 49.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 49.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069303 ms (missed cycles : 2). + 49.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069303 ms (missed cycles : 2).[0m ×2 + 50.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.826ms + 50.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277300 ms (missed cycles : 2). + 50.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277300 ms (missed cycles : 2).[0m ×2 + 51.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 51.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765098 ms (missed cycles : 2). + 51.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765098 ms (missed cycles : 2).[0m ×2 + 52.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 52.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768696 ms (missed cycles : 2). + 52.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768696 ms (missed cycles : 2).[0m ×2 + 53.33sWARNstate_estimatorOptimization exceeded the configured duration by 50544473ns + 53.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 53.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268418 ms (missed cycles : 2). + 53.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268418 ms (missed cycles : 2).[0m ×2 + 54.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms + 55.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339682 ms (missed cycles : 3). + 55.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339682 ms (missed cycles : 3).[0m ×2 + 56.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158385 ms (missed cycles : 2). + 56.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158385 ms (missed cycles : 2).[0m ×2 + 56.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 57.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000059 ms (missed cycles : 2). + 57.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000059 ms (missed cycles : 2).[0m ×2 + 58.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385746 ms (missed cycles : 4). + 58.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385746 ms (missed cycles : 4).[0m ×2 + 58.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 58.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 59.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265950 ms (missed cycles : 3). + 59.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265950 ms (missed cycles : 3).[0m ×2 + 59.22sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784477618.15325451 seconds ×3 + 59.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms ×2 + 59.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.818ms + 59.79sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784477618.72731495 seconds. ×3 + 59.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.309ms + 60.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.018ms + 60.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.888703 ms (missed cycles : 6). + 60.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.888703 ms (missed cycles : 6).[0m ×2 + 60.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 60.14sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 60.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 61.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039932 ms (missed cycles : 3). + 61.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039932 ms (missed cycles : 3).[0m ×2 + 61.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.639ms + 61.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.583ms + 62.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 62.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893362 ms (missed cycles : 3). + 62.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893362 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 152 warnings · 148 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 1.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.26sINFOmove_groupClearing octomap...[0m ×2 + 1.26sINFOmove_groupOctomap cleared.[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 3.15sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 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 + 5.78sWARNstate_estimatorOptimization exceeded the configured duration by 71192281ns + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041776 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041776 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840456 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840456 ms (missed cycles : 3).[0m ×2 + 7.35sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.144ms + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723098 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723098 ms (missed cycles : 2).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698438 ms (missed cycles : 4). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698438 ms (missed cycles : 4).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843811 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843811 ms (missed cycles : 2).[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386709 ms (missed cycles : 4). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386709 ms (missed cycles : 4).[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010235 ms (missed cycles : 2). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010235 ms (missed cycles : 2).[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.593708 ms (missed cycles : 7). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.593708 ms (missed cycles : 7).[0m ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.479104 ms (missed cycles : 7). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.479104 ms (missed cycles : 7).[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849660 ms (missed cycles : 3). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849660 ms (missed cycles : 3).[0m ×2 + 15.85sWARNstate_estimatorOptimization exceeded the configured duration by 36508277ns + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892963 ms (missed cycles : 3). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892963 ms (missed cycles : 3).[0m ×2 + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796801 ms (missed cycles : 3). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796801 ms (missed cycles : 3).[0m ×2 + 18.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566910 ms (missed cycles : 3). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566910 ms (missed cycles : 3).[0m ×2 + 19.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322646 ms (missed cycles : 5). + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322646 ms (missed cycles : 5).[0m ×2 + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434318 ms (missed cycles : 4). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434318 ms (missed cycles : 4).[0m ×2 + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159993 ms (missed cycles : 2). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159993 ms (missed cycles : 2).[0m ×2 + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329876 ms (missed cycles : 2). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329876 ms (missed cycles : 2).[0m ×2 + 24.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136972 ms (missed cycles : 2). + 24.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136972 ms (missed cycles : 2).[0m ×2 + 25.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737589 ms (missed cycles : 4). + 25.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737589 ms (missed cycles : 4).[0m ×2 + 25.89sWARNstate_estimatorOptimization exceeded the configured duration by 80243626ns + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954674 ms (missed cycles : 3). + 26.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954674 ms (missed cycles : 3).[0m ×2 + 27.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778648 ms (missed cycles : 2). + 27.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778648 ms (missed cycles : 2).[0m ×2 + 28.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578258 ms (missed cycles : 2). + 28.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578258 ms (missed cycles : 2).[0m ×2 + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497409 ms (missed cycles : 2). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497409 ms (missed cycles : 2).[0m ×2 + 30.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387723 ms (missed cycles : 3). + 30.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387723 ms (missed cycles : 3).[0m ×2 + 30.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.821ms + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.753515 ms (missed cycles : 5). + 31.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.753515 ms (missed cycles : 5).[0m ×2 + 32.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937365 ms (missed cycles : 3). + 32.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937365 ms (missed cycles : 3).[0m ×2 + 33.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.472690 ms (missed cycles : 7). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.472690 ms (missed cycles : 7).[0m ×2 + 34.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000405 ms (missed cycles : 2). + 34.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000405 ms (missed cycles : 2).[0m ×2 + 35.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841908 ms (missed cycles : 6). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841908 ms (missed cycles : 6).[0m ×2 + 35.99sWARNstate_estimatorOptimization exceeded the configured duration by 75019960ns + 36.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342533 ms (missed cycles : 3). + 36.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342533 ms (missed cycles : 3).[0m ×2 + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316932 ms (missed cycles : 2). + 37.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316932 ms (missed cycles : 2).[0m ×2 + 38.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363212 ms (missed cycles : 3). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363212 ms (missed cycles : 3).[0m ×2 + 39.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495539 ms (missed cycles : 3). + 39.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495539 ms (missed cycles : 3).[0m ×2 + 40.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011670 ms (missed cycles : 5). + 40.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011670 ms (missed cycles : 5).[0m ×2 + 41.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824113 ms (missed cycles : 2). + 41.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824113 ms (missed cycles : 2).[0m ×2 + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909936 ms (missed cycles : 3). + 42.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909936 ms (missed cycles : 3).[0m ×2 + 43.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091066 ms (missed cycles : 3). + 43.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091066 ms (missed cycles : 3).[0m ×2 + 44.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851552 ms (missed cycles : 3). + 44.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851552 ms (missed cycles : 3).[0m ×2 + 45.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912081 ms (missed cycles : 3). + 45.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912081 ms (missed cycles : 3).[0m ×2 + 46.02sWARNstate_estimatorOptimization exceeded the configured duration by 105275762ns + 46.82sINFOjoint_trajectory_controllerGoal reached, success! + 46.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324265 ms (missed cycles : 2). + 46.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324265 ms (missed cycles : 2).[0m ×2 + 46.84sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784477391.73290610 seconds ×3 + 46.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 47.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 47.40sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784477392.29142761 seconds. ×3 + 47.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 47.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 47.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011170 ms (missed cycles : 4). + 47.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011170 ms (missed cycles : 4).[0m ×2 + 48.33sINFOobjective_server_nodeFound path in 0 iterations (2.6821e-05 s). ×2 + 48.33sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371608 ms (missed cycles : 5). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371608 ms (missed cycles : 5).[0m ×2 + 49.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 49.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549569 ms (missed cycles : 4). + 49.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549569 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.8s | 115 warnings · 192 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.091694 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.091694 ms (missed cycles : 7).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.630ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557687 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557687 ms (missed cycles : 4).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.294184 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.294184 ms (missed cycles : 5).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 2.78sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.78sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.81sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784477456.75474453 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594482 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594482 ms (missed cycles : 4).[0m ×2 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646125 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646125 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784477458.32566404 seconds. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (8.2e-07 s). ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556763 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556763 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874416 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874416 ms (missed cycles : 3).[0m ×2 + 6.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.24sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584955 ms (missed cycles : 7). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584955 ms (missed cycles : 7).[0m ×2 + 7.31sWARNstate_estimatorOptimization exceeded the configured duration by 44337787ns + 7.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms ×2 + 8.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.140ms ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816091 ms (missed cycles : 3). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816091 ms (missed cycles : 3).[0m ×2 + 8.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 8.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms ×2 + 9.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835893 ms (missed cycles : 6). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835893 ms (missed cycles : 6).[0m ×2 + 9.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 9.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.174ms + 9.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 10.21sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870924 ms (missed cycles : 3). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870924 ms (missed cycles : 3).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 10.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms ×2 + 10.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.261ms + 11.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854204 ms (missed cycles : 2). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854204 ms (missed cycles : 2).[0m ×2 + 11.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 11.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 11.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776055 ms (missed cycles : 3). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776055 ms (missed cycles : 3).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.164ms + 12.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 13.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.778ms + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075831 ms (missed cycles : 4). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075831 ms (missed cycles : 4).[0m ×2 + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 13.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 13.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.798ms + 14.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.279ms + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089107 ms (missed cycles : 2). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089107 ms (missed cycles : 2).[0m ×2 + 14.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 14.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 15.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 15.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms ×2 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595603 ms (missed cycles : 4). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595603 ms (missed cycles : 4).[0m ×2 + 15.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 15.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 16.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530992 ms (missed cycles : 3). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530992 ms (missed cycles : 3).[0m ×2 + 16.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 17.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 17.37sWARNstate_estimatorOptimization exceeded the configured duration by 7794900ns + 17.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066283 ms (missed cycles : 3). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066283 ms (missed cycles : 3).[0m ×2 + 17.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.774ms + 17.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.268ms + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196279 ms (missed cycles : 2). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196279 ms (missed cycles : 2).[0m ×2 + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms ×2 + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 19.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.749ms + 19.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.744105 ms (missed cycles : 7). + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.744105 ms (missed cycles : 7).[0m ×2 + 19.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.751ms + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.068ms + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms ×2 + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011314 ms (missed cycles : 4). + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011314 ms (missed cycles : 4).[0m ×2 + 20.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.746ms + 21.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms ×3 + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 21.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972808 ms (missed cycles : 3). + 21.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972808 ms (missed cycles : 3).[0m ×2 + 21.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 22.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.768ms + 22.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687730 ms (missed cycles : 4). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687730 ms (missed cycles : 4).[0m ×2 + 22.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms ×2 + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.790ms + 23.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982805 ms (missed cycles : 3). + 23.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982805 ms (missed cycles : 3).[0m ×2 + 23.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 24.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 24.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms ×2 + 24.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 24.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.351ms + 24.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707200 ms (missed cycles : 2). + 24.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707200 ms (missed cycles : 2).[0m ×2 + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 25.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234093 ms (missed cycles : 5). + 25.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234093 ms (missed cycles : 5).[0m ×2 + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 26.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms ×3 + 26.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 26.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 26.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418220 ms (missed cycles : 3). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418220 ms (missed cycles : 3).[0m ×2 + 27.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 27.40sWARNstate_estimatorOptimization exceeded the configured duration by 33523778ns + 27.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.184398 ms (missed cycles : 7). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.184398 ms (missed cycles : 7).[0m ×2 + 28.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.451ms + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 28.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.927024 ms (missed cycles : 6). + 28.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.927024 ms (missed cycles : 6).[0m ×2 + 29.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 29.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.764ms + 29.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 30.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436556 ms (missed cycles : 2). + 30.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436556 ms (missed cycles : 2).[0m ×2 + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 31.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883523 ms (missed cycles : 4). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883523 ms (missed cycles : 4).[0m ×2 + 31.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms + 31.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 31.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 32.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510807 ms (missed cycles : 3). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510807 ms (missed cycles : 3).[0m ×2 + 32.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 32.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513756 ms (missed cycles : 4). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513756 ms (missed cycles : 4).[0m ×2 + 33.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520187 ms (missed cycles : 3). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520187 ms (missed cycles : 3).[0m ×2 + 34.64sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784477488.58581805 seconds ×3 + 34.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.360ms + 34.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.762ms + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.132226 ms (missed cycles : 6). + 35.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.132226 ms (missed cycles : 6).[0m ×2 + 35.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784477489.15712237 seconds. ×3 + 35.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.197ms + 35.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.808ms + 35.57sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 35.60sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 2.078ms + 35.71sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.527ms + 35.90sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.367ms + 35.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209355 ms (missed cycles : 2). + 36.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209355 ms (missed cycles : 2).[0m ×2 + 36.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 36.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 36.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 36.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 37.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 37.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.184ms + 37.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866446 ms (missed cycles : 2). + 37.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866446 ms (missed cycles : 2).[0m ×2 + 37.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 37.46sWARNstate_estimatorOptimization exceeded the configured duration by 100622240ns + 37.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 37.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.1s | 59 warnings · 144 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158385 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158385 ms (missed cycles : 2).[0m ×2 + 0.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000059 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000059 ms (missed cycles : 2).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.760ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385746 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385746 ms (missed cycles : 4).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms ×2 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265950 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265950 ms (missed cycles : 3).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.19sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784477618.15325451 seconds ×3 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms ×2 + 3.48sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.818ms + 3.77sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784477618.72731495 seconds. ×3 + 3.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.309ms + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.018ms + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.888703 ms (missed cycles : 6). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.888703 ms (missed cycles : 6).[0m ×2 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 4.12sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.16sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.16sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.16sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.16sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.774ms + 4.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039932 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039932 ms (missed cycles : 3).[0m ×2 + 5.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.639ms ×2 + 5.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.583ms + 6.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893362 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893362 ms (missed cycles : 3).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.612ms + 7.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.616ms + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040699 ms (missed cycles : 4). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040699 ms (missed cycles : 4).[0m ×2 + 7.30sWARNstate_estimatorOptimization exceeded the configured duration by 53995764ns + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492774 ms (missed cycles : 3). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492774 ms (missed cycles : 3).[0m ×2 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 8.39sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×4 + 8.42sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.45sINFOobjective_server_nodeFound path in 0 iterations (1.13e-06 s). ×2 + 8.50sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.54sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 8.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 9.00sINFOobjective_server_nodeFound path in 29 iterations (0.0275707 s). ×2 + 9.23sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103898 ms (missed cycles : 4). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103898 ms (missed cycles : 4).[0m ×2 + 9.66sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.02sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.28sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862110 ms (missed cycles : 2). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862110 ms (missed cycles : 2).[0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.637635 ms (missed cycles : 7). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.637635 ms (missed cycles : 7).[0m ×2 + 11.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.604ms + 12.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.625ms + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264938 ms (missed cycles : 5). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264938 ms (missed cycles : 5).[0m ×2 + 12.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 12.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.646ms + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408177 ms (missed cycles : 5). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408177 ms (missed cycles : 5).[0m ×2 + 13.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.763ms + 13.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.613ms + 13.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.634ms + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933737 ms (missed cycles : 6). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933737 ms (missed cycles : 6).[0m ×2 + 14.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.719ms + 14.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 15.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887159 ms (missed cycles : 3). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887159 ms (missed cycles : 3).[0m ×2 + 15.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.609ms + 16.30sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784477631.25774312 seconds ×3 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242961 ms (missed cycles : 3). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242961 ms (missed cycles : 3).[0m ×2 + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms ×2 + 16.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 16.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784477631.86890364 seconds. ×3 + 16.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.91sINFOmove_groupClearing octomap...[0m ×2 + 16.91sINFOmove_groupOctomap cleared.[0m ×2 + 17.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 17.38sWARNstate_estimatorOptimization exceeded the configured duration by 34079477ns + 17.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202239 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202239 ms (missed cycles : 2).[0m ×2 + 17.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.711ms + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 17.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465291 ms (missed cycles : 2). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465291 ms (missed cycles : 2).[0m ×2 + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.701ms + 19.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784477634.22904205 seconds ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.7s | 95 errors · 37 warnings · 453 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887159 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887159 ms (missed cycles : 3).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.609ms + 0.87sINFOjoint_trajectory_controllerGoal reached, success! + 0.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784477631.25774312 seconds ×3 + 0.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242961 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242961 ms (missed cycles : 3).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 1.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784477631.86890364 seconds. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 1.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 2.00sWARNstate_estimatorOptimization exceeded the configured duration by 34079477ns + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202239 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202239 ms (missed cycles : 2).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.711ms + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 2.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465291 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465291 ms (missed cycles : 2).[0m ×2 + 3.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.701ms + 3.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784477634.22904205 seconds ×3 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.249ms + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.029ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908796 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908796 ms (missed cycles : 2).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 4.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784477634.78526211 seconds. ×3 + 4.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 4.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.110ms + 5.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952942 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952942 ms (missed cycles : 3).[0m ×2 + 5.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.714ms + 5.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784477635.81541443 seconds ×3 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 5.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.272ms + 5.71sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.768ms + 6.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388947 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388947 ms (missed cycles : 3).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.113146 ms (missed cycles : 7). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.113146 ms (missed cycles : 7).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.699260 ms (missed cycles : 7). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.699260 ms (missed cycles : 7).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.830274 ms (missed cycles : 7). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.830274 ms (missed cycles : 7).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361095 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361095 ms (missed cycles : 3).[0m ×2 + 11.18sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORweb_video_server-33process[web_video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.22sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORweb_video_auth_proxy-35process has died [pid 13257, 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 + 11.22sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.24sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORweb_bridge_auth_proxy-34process has died [pid 13256, 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 + 11.25sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.27sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.27sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.27sERRORfixed_lag_smoother_node-8process[fixed_lag_smoother_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.28sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.29sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.29sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.29sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.31sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.31sINFOweb_video_server-33sending signal 'SIGTERM' to process[web_video_server-33] ×2 + 11.33sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.36sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.38sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.40sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626781 ms (missed cycles : 2). + 11.42sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.45sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.47sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.47sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.50sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.53sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.55sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.58sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.61sINFOweb_video_server-33process has finished cleanly [pid 13255] ×2 + 11.61sINFOtf2_web_republisher_node-32process has finished cleanly [pid 13254] ×2 + 11.62sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.66sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.66sINFOcontroller_managerShutdown request received.... + 11.66sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.66sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.66sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.66sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.66sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.66sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.66sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.66sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.66sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.66sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.66sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.66sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.66sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.66sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.66sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.66sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.66sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.66sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.66sINFOcontroller_managerShutting down the controller manager. + 11.68sINFOfixed_lag_smoother_node-8sending signal 'SIGTERM' to process[fixed_lag_smoother_node-8] ×2 + 11.69sERRORmove_group-21process has died [pid 13188, 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_ew6fvxrh --params-file /tmp/launch_params_fmpnql2v --params-file /tmp/launch_params_zll2x474 --params-file /tmp/launch_params_0tpdtwaz --params-file /tmp/launch_params_3olukxgv --params-file /tmp/launch_params_azyt8edu']. ×2 + 11.70sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.72sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.73sERRORui_teleop_bridge-30process has died [pid 13252, 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_q3iv3_eh']. ×2 + 11.73sINFOcomponent_container_mt-28process has finished cleanly [pid 13250] ×2 + 11.75sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.76sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] ×2 + 11.77sINFOexecute_objective_bridge-29process has finished cleanly [pid 13251] ×2 + 11.78sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] ×2 + 11.81sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.83sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.83sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.83sINFOcontroller_serverCleaning up + 11.83sINFOlocal_costmap.local_costmapCleaning up + 11.83sERRORobjective_server_node_main-26process has died [pid 13246, 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_mxktyh3c --params-file /tmp/launch_params_6emmbjx_ --params-file /tmp/launch_params_ew49ywt2 --params-file /tmp/launch_params_n6tq3uxl --params-file /tmp/launch_params_irc0h4vd --params-file /tmp/launch_params_3det9nzh --params-file /tmp/launch_params_io5ix14c --params-file /tmp/launch_params_ko1lu3c7 --params-file /tmp/launch_params_y73sjo_t']. ×2 + 11.83sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.83sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.83sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.83sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.83sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.83sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.83sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.83sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main ×2 + 11.83sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.83sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.83sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.83sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.83sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.83sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.83sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.83sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626781 ms (missed cycles : 2).[0m ×2 + 11.83sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.84sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.84sINFOobjective_server_node[0;m[0m[INFO] [2026-07-19 16:14:01.814] signal_handler(SIGINT/SIGTERM)[0m ×2 + 11.84sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.84sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.84sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.84sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.84sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.84sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.84sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.84sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.84sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.84sERRORmove_groupStack trace (most recent call last) in thread 13794: ×2 + 11.85sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.85sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7efbdfaa63, in __clone ×2 + 11.85sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7efbd6daa3, in ×2 + 11.85sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7efbfffdb3, in ×2 + 11.85sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f7efc6541c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.85sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7efc3724d0, in rclcpp::Rate::sleep() ×2 + 11.85sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7efc2c5a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.85sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7efc28aa71, in ×2 + 11.85sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7efbfce390, in __cxa_throw ×2 + 11.85sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7efbfb8a54, in std::terminate() ×2 + 11.85sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7efbfce0d9, in ×2 + 11.85sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7efbfb8ff4, in ×2 + 11.85sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7efbcf98fe, in abort ×2 + 11.85sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7efbd1627d, in raise ×2 + 11.85sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7efbd6fb2c, in pthread_kill ×2 + 11.85sERRORmove_groupAborted (Signal sent by tkill() 13188 0) ×2 + 11.85sINFOobjective_server_node[2026-07-19 16:14:01.978] [moveit_pro_license] [info] ×2 + 11.85sINFOobjective_server_node************************************************* ×4 + 11.85sINFOobjective_server_node* MoveIt Pro License ×2 + 11.85sINFOobjective_server_node* Application has successfully terminated ×2 + 11.85sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.85sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.85sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.85sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.85sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.85sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.85sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.85sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.85sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.85sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.85sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.85sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.85sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.85sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.85sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.85sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.85sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.85sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.85sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.85sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.85sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.85sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.85sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.85sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.85sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.85sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.85sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 11.85sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.85sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.85sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556be381c6a4, in _start ×2 + 11.85sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd48a97228a, in __libc_start_main ×2 + 11.85sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd48a9721d0, in ×2 + 11.85sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd48a98fbbd, in exit ×2 + 11.85sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd48a98fa75, in ×2 + 11.85sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fd48ae5e8f5, in spdlog::details::registry::~registry() ×2 + 11.85sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556be381cd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.85sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556be3823315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.85sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556be38225a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.85sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556be381eb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.85sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556be381cd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.85sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd48b514454, in rclcpp::Node::~Node() ×2 + 11.85sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd48b4cf515, in ×2 + 11.85sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd48b512d20, in ×2 + 11.85sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd48b512c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.85sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd48b4cf5d9, in ×2 + 11.85sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd48b4d4161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.85sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fd442fee160]) ×2 + 11.86sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.86sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.86sINFOodom_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 + 11.86sINFOodom_qos_relay.pymain() ×2 + 11.86sINFOodom_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 + 11.86sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.86sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.86sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.86sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.86sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.86sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.86sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.86sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.86sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.86sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.86sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.86sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.86sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.86sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.86sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.86sERRORodom_world_drift.pyTraceback (most recent call last): ×2 + 11.86sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 128, in <module> ×2 + 11.86sINFOodom_world_drift.pymain() ×2 + 11.86sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 119, in main ×2 + 11.86sINFOodom_world_drift.pyrclpy.spin(node) ×2 + 11.86sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.86sINFOodom_world_drift.pyexecutor.spin_once() ×2 + 11.86sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.86sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) ×2 + 11.86sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.86sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.86sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.86sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.86sINFOodom_world_drift.pyreturn next(self._cb_iter) ×2 + 11.86sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.86sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.87sINFOodom_world_drift.pyraise ExternalShutdownException() ×2 + 11.87sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException ×2 + 11.87sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.87sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 11.87sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.87sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.87sINFOmap_serverDeactivating + 11.87sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.87sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.87sINFOros2_control_nodepublish_async_failures_ 2[0m ×4 + 11.88sINFOmap_serverCleaning up + 11.88sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.88sINFOsmoother_serverCleaning up + 11.89sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.89sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.89sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.89sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.89sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.91sERRORamclThe bond connection to the lifecycle manager has been broken + 11.92sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.92sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.92sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.92sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.92sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.92sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.92sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.92sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.92sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.37sERRORcomponent_container_isolated-1process has died [pid 13091, 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__d17rsg0 --params-file /tmp/launch_params_7gfwpoyj -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.56sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 13245] ×2 + 12.58sINFOmove_joint_resampler_node-24process has finished cleanly [pid 13228] ×2 + 12.67sINFOparameter_manager_node-22process has finished cleanly [pid 13189] ×2 + 12.67sINFOwaypoint_manager_node-23process has finished cleanly [pid 13190] ×2 + 12.71sINFOcomponent_container_mt-27process has finished cleanly [pid 13249] ×2 + 12.74sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 13097] ×2 + 12.77sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 13096] ×2 + 12.81sINFOslip_aware_odom-4process has finished cleanly [pid 13094] ×2 + 12.81sINFOfixed_lag_smoother_node-8process has finished cleanly [pid 13098] ×2 + 12.85sINFOstatic_transform_publisher-2process has finished cleanly [pid 13092] ×2 + 12.85sERRORodom_qos_relay.py-5process has died [pid 13095, 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 + 13.87sERRORodom_world_drift.py-3process has died [pid 13093, 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 + 14.32sINFOweb_bridge-31process has finished cleanly [pid 13253] ×2 + 14.32sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.49sINFOros2_control_node-9process has finished cleanly [pid 13099] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.6s | 9 errors · 53 warnings · 123 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103282 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103282 ms (missed cycles : 3).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 0.22sINFOjoint_trajectory_controllerGoal reached, success! + 0.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.809ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011415 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011415 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.572924 ms (missed cycles : 7). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.572924 ms (missed cycles : 7).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179782 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179782 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.41sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 3.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784477521.27737236 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 + 3.69sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 1.639ms + 3.76sWARNstate_estimatorOptimization exceeded the configured duration by 21434336ns + 3.78sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 1.995ms + 4.08sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 2.347ms + 4.08sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784477521.95569897 seconds. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969447 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969447 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 1.530ms + 4.38sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 1.311ms + 4.48sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 1.412ms + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 4.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 4.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 5.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.721ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954027 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954027 ms (missed cycles : 3).[0m ×2 + 5.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 5.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.695ms + 5.68sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.569ms + 5.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.80sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.80sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.80sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.80sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.96sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.623ms + 6.08sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.583ms + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.647499 ms (missed cycles : 6). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.647499 ms (missed cycles : 6).[0m ×2 + 6.29sINFOros2_control_nodeMuJoCo sim: 1.07% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 6.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 6.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.216ms + 6.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.870ms + 7.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016429 ms (missed cycles : 3). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016429 ms (missed cycles : 3).[0m ×2 + 7.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.783ms + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226614 ms (missed cycles : 4). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226614 ms (missed cycles : 4).[0m ×2 + 8.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 8.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 8.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 9.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.244731 ms (missed cycles : 7). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.244731 ms (missed cycles : 7).[0m ×2 + 9.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.677ms + 9.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 9.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 10.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908981 ms (missed cycles : 2). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908981 ms (missed cycles : 2).[0m ×2 + 10.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 10.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 10.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 10.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 11.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.936553 ms (missed cycles : 6). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.936553 ms (missed cycles : 6).[0m ×2 + 11.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 11.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 11.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 12.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 12.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922110 ms (missed cycles : 3). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922110 ms (missed cycles : 3).[0m ×2 + 12.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 12.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 13.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657879 ms (missed cycles : 4). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657879 ms (missed cycles : 4).[0m ×2 + 13.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 13.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 13.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 13.77sWARNstate_estimatorOptimization exceeded the configured duration by 35795003ns + 13.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 14.15sINFOjoint_trajectory_controllerGot request to cancel goal + 14.15sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.15sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.15sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784477532.02392936 seconds ×3 + 14.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.290ms + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.847730 ms (missed cycles : 6). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.847730 ms (missed cycles : 6).[0m ×2 + 14.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 14.57sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.056ms + 14.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784477532.58044052 seconds. ×3 + 14.77sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.494ms + 14.98sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.128ms + 15.06sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 2.400ms + 15.07sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 15.16sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.294ms + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924944 ms (missed cycles : 3). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924944 ms (missed cycles : 3).[0m ×2 + 15.38sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.417ms + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 15.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 15.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 16.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 16.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976639 ms (missed cycles : 3). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976639 ms (missed cycles : 3).[0m ×2 + 16.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 16.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.119ms + 17.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 37 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034258 ms (missed cycles : 6). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034258 ms (missed cycles : 6).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.767ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.921125 ms (missed cycles : 8). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.921125 ms (missed cycles : 8).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 2.57sWARNstate_estimatorOptimization exceeded the configured duration by 15204055ns + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153916 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153916 ms (missed cycles : 2).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.45sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784477452.13463235 seconds ×3 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.197ms + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 4.00sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.182ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784477452.70459294 seconds. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.580761 ms (missed cycles : 7). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.580761 ms (missed cycles : 7).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.657ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.45sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.45sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.50sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 2.361ms + 4.68sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.144ms + 5.28sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.999ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.091694 ms (missed cycles : 7). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.091694 ms (missed cycles : 7).[0m ×2 + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.630ms + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557687 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557687 ms (missed cycles : 4).[0m ×2 + 6.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 7.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.294184 ms (missed cycles : 5). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.294184 ms (missed cycles : 5).[0m ×2 + 7.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 8.10sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784477456.75474453 seconds ×3 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594482 ms (missed cycles : 4). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594482 ms (missed cycles : 4).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646125 ms (missed cycles : 3). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646125 ms (missed cycles : 3).[0m ×2 + 9.67sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784477458.32566404 seconds. ×3 + 10.01sINFOobjective_server_nodeFound path in 0 iterations (8.2e-07 s). ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556763 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556763 ms (missed cycles : 2).[0m ×2 + 11.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874416 ms (missed cycles : 3). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874416 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 31 warnings · 67 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091066 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091066 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851552 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851552 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912081 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912081 ms (missed cycles : 3).[0m ×2 + 2.29sWARNstate_estimatorOptimization exceeded the configured duration by 105275762ns + 3.08sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.08sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324265 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324265 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784477391.73290610 seconds ×3 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 3.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 3.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784477392.29142761 seconds. ×3 + 3.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011170 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011170 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.6821e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.63sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.63sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.63sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371608 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371608 ms (missed cycles : 5).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549569 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549569 ms (missed cycles : 4).[0m ×2 + 6.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms + 6.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784477395.36161160 seconds ×3 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804480 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804480 ms (missed cycles : 3).[0m ×2 + 7.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784477395.92448211 seconds. ×3 + 7.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 7.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 7.68sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.737ms + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865809 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865809 ms (missed cycles : 3).[0m ×2 + 9.23sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072150 ms (missed cycles : 6). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072150 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 3.0s | 31 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264938 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264938 ms (missed cycles : 5).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.646ms + 0.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.639ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408177 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408177 ms (missed cycles : 5).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.763ms + 1.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.613ms + 1.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.634ms + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933737 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933737 ms (missed cycles : 6).[0m ×2 + 2.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.719ms + 2.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 3.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887159 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887159 ms (missed cycles : 3).[0m ×2 + 3.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.609ms + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.98sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784477631.25774312 seconds ×3 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242961 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242961 ms (missed cycles : 3).[0m ×2 + 4.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms ×2 + 4.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 4.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784477631.86890364 seconds. ×3 + 4.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.60sINFOmove_groupClearing octomap...[0m ×2 + 4.60sINFOmove_groupOctomap cleared.[0m ×2 + 4.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 4.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 4.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 5.07sWARNstate_estimatorOptimization exceeded the configured duration by 34079477ns + 5.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202239 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202239 ms (missed cycles : 2).[0m ×2 + 5.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.711ms + 5.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 5.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 5.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465291 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465291 ms (missed cycles : 2).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.701ms + 6.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784477634.22904205 seconds ×3 + 7.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.249ms + 7.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.029ms + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908796 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908796 ms (missed cycles : 2).[0m ×2 + 7.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 7.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784477634.78526211 seconds. ×3 + 7.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 7.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 7.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.110ms + 8.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 8.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952942 ms (missed cycles : 3). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952942 ms (missed cycles : 3).[0m ×2 + 8.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.714ms + 8.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784477635.81541443 seconds ×3 + 8.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 8.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.272ms + 8.77sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.768ms + 9.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388947 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388947 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 22 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091066 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091066 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851552 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851552 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912081 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912081 ms (missed cycles : 3).[0m ×2 + 2.29sWARNstate_estimatorOptimization exceeded the configured duration by 105275762ns + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324265 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324265 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784477391.73290610 seconds ×3 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 3.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 3.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784477392.29142761 seconds. ×3 + 3.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011170 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011170 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.6821e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.63sINFOjoint_trajectory_controllerReceived new action goal + 4.63sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371608 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371608 ms (missed cycles : 5).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549569 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549569 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 67 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324265 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324265 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784477391.73290610 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 0.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784477392.29142761 seconds. ×3 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011170 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011170 ms (missed cycles : 4).[0m ×2 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (2.6821e-05 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.53sINFOobjective_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371608 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371608 ms (missed cycles : 5).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549569 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549569 ms (missed cycles : 4).[0m ×2 + 3.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms + 3.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784477395.36161160 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804480 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804480 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784477395.92448211 seconds. ×3 + 4.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 4.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.737ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865809 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865809 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072150 ms (missed cycles : 6). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072150 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 22 warnings · 59 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883523 ms (missed cycles : 4). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883523 ms (missed cycles : 4).[0m ×2 + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510807 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510807 ms (missed cycles : 3).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513756 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513756 ms (missed cycles : 4).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520187 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520187 ms (missed cycles : 3).[0m ×2 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784477488.58581805 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.360ms + 4.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.762ms + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.132226 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.132226 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784477489.15712237 seconds. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.197ms + 4.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.808ms + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.71sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 2.078ms + 4.82sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.527ms + 5.01sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.367ms + 5.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209355 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209355 ms (missed cycles : 2).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 5.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.184ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866446 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866446 ms (missed cycles : 2).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 6.57sWARNstate_estimatorOptimization exceeded the configured duration by 100622240ns + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 6.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms | ||||
| − 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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 1.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.26sINFOmove_groupClearing octomap...[0m ×2 + 1.26sINFOmove_groupOctomap cleared.[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 3.15sINFOobjective_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 + 3.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×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 + 5.78sWARNstate_estimatorOptimization exceeded the configured duration by 71192281ns + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041776 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 22 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091066 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091066 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851552 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851552 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912081 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912081 ms (missed cycles : 3).[0m ×2 + 2.29sWARNstate_estimatorOptimization exceeded the configured duration by 105275762ns + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324265 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324265 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784477391.73290610 seconds ×3 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 3.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 3.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784477392.29142761 seconds. ×3 + 3.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011170 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011170 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.6821e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.63sINFOjoint_trajectory_controllerReceived new action goal + 4.63sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371608 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371608 ms (missed cycles : 5).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549569 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549569 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 6.814896 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814896 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 22 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034258 ms (missed cycles : 6). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034258 ms (missed cycles : 6).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.767ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.921125 ms (missed cycles : 8). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.921125 ms (missed cycles : 8).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 2.57sWARNstate_estimatorOptimization exceeded the configured duration by 15204055ns + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153916 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153916 ms (missed cycles : 2).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784477452.13463235 seconds ×3 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.197ms + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 4.00sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.182ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784477452.70459294 seconds. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.580761 ms (missed cycles : 7). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.580761 ms (missed cycles : 7).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.657ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 2.361ms + 4.68sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.144ms + 5.28sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.999ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.091694 ms (missed cycles : 7). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.091694 ms (missed cycles : 7).[0m ×2 + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.630ms + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557687 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557687 ms (missed cycles : 4).[0m ×2 + 6.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 22 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034258 ms (missed cycles : 6). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034258 ms (missed cycles : 6).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.767ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.921125 ms (missed cycles : 8). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.921125 ms (missed cycles : 8).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 2.57sWARNstate_estimatorOptimization exceeded the configured duration by 15204055ns + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153916 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153916 ms (missed cycles : 2).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784477452.13463235 seconds ×3 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.197ms + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 4.00sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.182ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784477452.70459294 seconds. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.580761 ms (missed cycles : 7). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.580761 ms (missed cycles : 7).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.657ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 2.361ms + 4.68sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.144ms + 5.28sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.999ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.091694 ms (missed cycles : 7). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.091694 ms (missed cycles : 7).[0m ×2 + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.630ms + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557687 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557687 ms (missed cycles : 4).[0m ×2 + 6.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 22 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034258 ms (missed cycles : 6). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034258 ms (missed cycles : 6).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.767ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.921125 ms (missed cycles : 8). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.921125 ms (missed cycles : 8).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 2.57sWARNstate_estimatorOptimization exceeded the configured duration by 15204055ns + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153916 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153916 ms (missed cycles : 2).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784477452.13463235 seconds ×3 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.197ms + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 4.00sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.182ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784477452.70459294 seconds. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.580761 ms (missed cycles : 7). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.580761 ms (missed cycles : 7).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.657ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 2.361ms + 4.68sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.144ms + 5.28sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.999ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.091694 ms (missed cycles : 7). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.091694 ms (missed cycles : 7).[0m ×2 + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.630ms + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557687 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557687 ms (missed cycles : 4).[0m ×2 + 6.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 22 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034258 ms (missed cycles : 6). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034258 ms (missed cycles : 6).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.767ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.921125 ms (missed cycles : 8). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.921125 ms (missed cycles : 8).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 2.57sWARNstate_estimatorOptimization exceeded the configured duration by 15204055ns + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153916 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153916 ms (missed cycles : 2).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784477452.13463235 seconds ×3 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.197ms + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 4.00sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.182ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784477452.70459294 seconds. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.580761 ms (missed cycles : 7). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.580761 ms (missed cycles : 7).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.657ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 2.361ms + 4.68sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.144ms + 5.28sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.999ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.091694 ms (missed cycles : 7). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.091694 ms (missed cycles : 7).[0m ×2 + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.630ms + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557687 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557687 ms (missed cycles : 4).[0m ×2 + 6.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 22 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034258 ms (missed cycles : 6). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034258 ms (missed cycles : 6).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.767ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.921125 ms (missed cycles : 8). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.921125 ms (missed cycles : 8).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 2.57sWARNstate_estimatorOptimization exceeded the configured duration by 15204055ns + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153916 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153916 ms (missed cycles : 2).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784477452.13463235 seconds ×3 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.197ms + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 4.00sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.182ms + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784477452.70459294 seconds. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.580761 ms (missed cycles : 7). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.580761 ms (missed cycles : 7).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.657ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 2.361ms + 4.68sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.144ms + 5.28sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.999ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.091694 ms (missed cycles : 7). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.091694 ms (missed cycles : 7).[0m ×2 + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.630ms + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557687 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557687 ms (missed cycles : 4).[0m ×2 + 6.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 22 warnings · 59 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883523 ms (missed cycles : 4). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883523 ms (missed cycles : 4).[0m ×2 + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510807 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510807 ms (missed cycles : 3).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513756 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513756 ms (missed cycles : 4).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520187 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520187 ms (missed cycles : 3).[0m ×2 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784477488.58581805 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.360ms + 4.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.762ms + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.132226 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.132226 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784477489.15712237 seconds. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.197ms + 4.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.808ms + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.71sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 2.078ms + 4.82sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.527ms + 5.01sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.367ms + 5.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209355 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209355 ms (missed cycles : 2).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 5.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.184ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866446 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866446 ms (missed cycles : 2).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 6.57sWARNstate_estimatorOptimization exceeded the configured duration by 100622240ns + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 6.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 22 warnings · 59 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883523 ms (missed cycles : 4). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883523 ms (missed cycles : 4).[0m ×2 + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510807 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510807 ms (missed cycles : 3).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513756 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513756 ms (missed cycles : 4).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520187 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520187 ms (missed cycles : 3).[0m ×2 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784477488.58581805 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.360ms + 4.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.762ms + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.132226 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.132226 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784477489.15712237 seconds. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.197ms + 4.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.808ms + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.71sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 2.078ms + 4.82sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.527ms + 5.01sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.367ms + 5.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209355 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209355 ms (missed cycles : 2).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 5.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.184ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866446 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866446 ms (missed cycles : 2).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 6.57sWARNstate_estimatorOptimization exceeded the configured duration by 100622240ns + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 6.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms | ||||
| − 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 6.814896 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814896 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 6 errors · 22 warnings · 51 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3).[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 3.12sWARNstate_estimatorOptimization exceeded the configured duration by 241388203ns + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.87sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784477562.80062985 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784477563.41309786 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 4.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 4.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 5.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 5.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 6.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3).[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 6 errors · 22 warnings · 51 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3).[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 3.12sWARNstate_estimatorOptimization exceeded the configured duration by 241388203ns + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.87sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784477562.80062985 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784477563.41309786 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 4.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 4.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 5.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 5.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 6.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3).[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms | ||||
| − 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 6.814896 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814896 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 6 errors · 22 warnings · 51 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3).[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 3.12sWARNstate_estimatorOptimization exceeded the configured duration by 241388203ns + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.87sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784477562.80062985 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784477563.41309786 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 4.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 4.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 5.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 5.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 6.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3).[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 6 errors · 22 warnings · 51 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3).[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 3.12sWARNstate_estimatorOptimization exceeded the configured duration by 241388203ns + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.87sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784477562.80062985 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784477563.41309786 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 4.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 4.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 5.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 5.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 6.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3).[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 6 errors · 22 warnings · 51 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3).[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 3.12sWARNstate_estimatorOptimization exceeded the configured duration by 241388203ns + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.87sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784477562.80062985 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784477563.41309786 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 4.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 4.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 5.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 5.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 6.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3).[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 6 errors · 22 warnings · 51 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3).[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 3.12sWARNstate_estimatorOptimization exceeded the configured duration by 241388203ns + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.87sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784477562.80062985 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784477563.41309786 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 4.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 4.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 5.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 5.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 6.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3).[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 6 errors · 22 warnings · 51 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3).[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 3.12sWARNstate_estimatorOptimization exceeded the configured duration by 241388203ns + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.87sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784477562.80062985 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784477563.41309786 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 4.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 4.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 5.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 5.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 6.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3).[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 6 errors · 22 warnings · 51 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708591 ms (missed cycles : 3).[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876550 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653115 ms (missed cycles : 3).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 3.12sWARNstate_estimatorOptimization exceeded the configured duration by 241388203ns + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874436 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.87sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784477562.80062985 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807189 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784477563.41309786 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 4.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 4.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 5.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204694 ms (missed cycles : 2).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 5.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 5.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 6.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 6.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617379 ms (missed cycles : 3).[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 22 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264938 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264938 ms (missed cycles : 5).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.646ms + 0.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.639ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408177 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408177 ms (missed cycles : 5).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.763ms + 1.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.613ms + 1.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.634ms + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933737 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933737 ms (missed cycles : 6).[0m ×2 + 2.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.719ms + 2.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 3.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887159 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887159 ms (missed cycles : 3).[0m ×2 + 3.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.609ms + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.98sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784477631.25774312 seconds ×3 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242961 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242961 ms (missed cycles : 3).[0m ×2 + 4.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms ×2 + 4.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 4.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784477631.86890364 seconds. ×3 + 4.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.60sINFOmove_groupClearing octomap...[0m ×2 + 4.60sINFOmove_groupOctomap cleared.[0m ×2 + 4.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 4.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 4.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 5.07sWARNstate_estimatorOptimization exceeded the configured duration by 34079477ns + 5.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202239 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202239 ms (missed cycles : 2).[0m ×2 + 5.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.711ms + 5.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 5.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 5.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465291 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465291 ms (missed cycles : 2).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.701ms + 6.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784477634.22904205 seconds ×3 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 30.8s | 72 errors · 695 warnings · 1888 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/2026-07-19-16-02-59-104691-0724b2b833f1-9230 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 13.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×3 + 13.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 13.20sINFOros2_control_node-9process started with pid [9288] + 13.20sINFOmove_group-21process started with pid [9386] + 13.20sINFOparameter_manager_node-22process started with pid [9388] + 13.23sINFOwaypoint_manager_node-23process started with pid [9390] + 13.23sINFOmove_joint_resampler_node-24process started with pid [9421] + 13.23sINFOmove_end_effector_resampler_node-25process started with pid [9422] + 13.23sINFOobjective_server_node_main-26process started with pid [9423] + 13.23sINFOcomponent_container_mt-27process started with pid [9424] + 13.23sINFOcomponent_container_mt-28process started with pid [9429] + 13.23sINFOexecute_objective_bridge-29process started with pid [9430] + 13.23sINFOui_teleop_bridge-30process started with pid [9431] + 13.23sINFOweb_bridge-31process started with pid [9432] + 13.23sINFOtf2_web_republisher_node-32process started with pid [9433] + 13.23sINFOweb_video_server-33process started with pid [9434] + 13.23sINFOweb_bridge_auth_proxy-34process started with pid [9435] + 13.23sINFOweb_video_auth_proxy-35process started with pid [9436] + 13.25sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 13.25sINFOcomponent_container_isolated-1process started with pid [9280] + 13.25sINFOstatic_transform_publisher-2process started with pid [9281] + 13.25sINFOodom_world_drift.py-3process started with pid [9282] + 13.25sINFOslip_aware_odom-4process started with pid [9283] + 13.25sINFOodom_qos_relay.py-5process started with pid [9284] + 13.25sINFOscan_to_scan_filter_chain-6process started with pid [9285] + 13.25sINFOscan_to_scan_filter_chain-7process started with pid [9286] + 13.25sINFOfixed_lag_smoother_node-8process started with pid [9287] + 13.25sINFOros2-10process started with pid [9366] + 13.25sINFOros2-11process started with pid [9367] + 13.25sINFOros2-12process started with pid [9368] + 13.25sINFOros2-13process started with pid [9369] + 13.25sINFOros2-14process started with pid [9371] + 13.25sINFOros2-15process started with pid [9372] + 13.25sINFOros2-16process started with pid [9373] + 13.25sINFOros2-17process started with pid [9374] + 13.25sINFOros2-18process started with pid [9379] + 13.25sINFOros2-19process started with pid [9382] + 13.25sINFOros2-20process started with pid [9385] + 13.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 13.37sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×3 + 13.37sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×3 + 13.37sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 13.37sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 13.37sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 13.39sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 13.39sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 13.39sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 13.39sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 13.39sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 13.39sWARNros2_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 + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922637 ms (missed cycles : 2).[0m + 13.39sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 13.41sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 13.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 13.42sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 13.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.45sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 13.56sINFOcomponent_container_mtRobot initialized[0m ×3 + 13.56sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 13.56sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 13.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 13.59sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 13.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 13.64sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 13.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 13.65sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 13.65sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 13.70sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 13.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 13.71sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 13.71sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 13.71sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 13.72sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 13.72sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 13.72sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 13.72sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 13.72sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 13.72sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×3 + 13.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 13.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 13.95sWARNscan_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 + 13.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 14.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.334929 ms (missed cycles : 6).[0m + 14.73sINFOmove_groupLoaded robot model in 0.504147 seconds[0m + 14.73sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 14.73sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804335 ms (missed cycles : 2).[0m + 15.32sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 15.32sWARNmove_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 + 15.32sWARNmove_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 + 15.33sWARNmove_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 + 15.33sWARNmove_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 + 15.33sWARNmove_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 + 15.33sWARNmove_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 + 15.34sWARNmove_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 + 15.34sWARNmove_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 + 15.34sWARNmove_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 + 15.35sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×11 + 15.35sWARNmove_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 + 15.42sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 15.43sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 15.60sINFOwaypoint_manager_nodeLoaded robot model in 0.493671 seconds[0m + 15.60sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 15.60sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.84sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 15.84sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 15.84sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 15.85sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.85sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 15.85sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 15.85sINFOmove_groupStarting planning scene monitor[0m ×3 + 15.85sINFOmove_groupListening to '/planning_scene'[0m ×3 + 15.85sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 15.85sINFOmove_groupListening to 'collision_object'[0m ×3 + 15.86sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 15.98sWARNwaypoint_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 + 15.98sWARNwaypoint_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 + 15.98sWARNwaypoint_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 + 15.98sWARNwaypoint_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 + 15.98sWARNwaypoint_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 + 15.98sWARNwaypoint_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 + 15.98sWARNwaypoint_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 + 15.99sWARNwaypoint_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 + 15.99sWARNwaypoint_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 + 15.99sWARNwaypoint_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 + 15.99sWARNwaypoint_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 + 15.99sWARNwaypoint_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 + 15.99sWARNwaypoint_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 + 15.99sWARNwaypoint_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 + 15.99sWARNwaypoint_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 + 15.99sWARNwaypoint_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 + 16.00sWARNwaypoint_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 + 16.00sWARNwaypoint_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 + 16.00sWARNwaypoint_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 + 16.00sWARNwaypoint_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 + 16.00sWARNwaypoint_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 + 16.00sWARNwaypoint_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 + 16.00sWARNwaypoint_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 + 16.00sWARNwaypoint_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 + 16.00sWARNwaypoint_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 + 16.00sWARNwaypoint_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 + 16.01sWARNwaypoint_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 + 16.01sWARNwaypoint_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 + 16.18sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 16.18sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 16.18sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 16.18sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 16.18sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 16.18sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 16.18sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 16.18sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 16.18sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 16.18sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 16.18sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 16.18sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 16.18sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 16.18sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 16.18sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 16.18sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 16.18sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 16.18sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 16.18sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 16.18sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 16.23sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 16.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 16.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 16.35sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_id_i7g31 --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_kcmtuorr --params-file /tmp/launch_params_39wzq2kw [0m + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971647 ms (missed cycles : 2).[0m + 16.38sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 16.38sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 16.38sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 16.38sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 16.39sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 16.40sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 16.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 16.41sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 16.45sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 16.45sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 16.46sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.60sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 16.64sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 16.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.66sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.68sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 16.68sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 16.69sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 16.69sINFOcomponent_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 + 16.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 16.69sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 16.73sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 16.73sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 16.74sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_id_i7g31 --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_kcmtuorr --params-file /tmp/launch_params_39wzq2kw [0m + 16.76sINFOros2-12process has finished cleanly [pid 9368] + 16.82sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 16.83sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 16.83sINFOros2_control_nodeconfigure successful[0m ×9 + 16.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.85sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.87sWARNcomponent_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 + 16.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 16.93sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 16.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 16.96sINFOcomponent_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 + 17.16sINFOobjective_server_node[2026-07-19 16:03:19.439] [moveit_pro_license] [info] + 17.16sINFOobjective_server_node************************************************* ×8 + 17.16sINFOobjective_server_node* MoveIt Pro License ×4 + 17.16sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 17.18sINFOros2-15process has finished cleanly [pid 9372] + 17.22sINFOcomponent_container_mtLoaded robot model in 0.361453 seconds[0m + 17.22sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 17.23sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.23sINFOobjective_server_nodeLoaded robot model in 0.0242334 seconds[0m + 17.23sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 17.23sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.43sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 17.44sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 17.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 17.47sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697853 ms (missed cycles : 2).[0m + 17.47sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_id_i7g31 --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_kcmtuorr --params-file /tmp/launch_params_39wzq2kw [0m + 17.49sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 17.49sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 17.50sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 17.50sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 17.50sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 17.51sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 17.51sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 17.51sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 17.51sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 17.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 17.53sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 17.56sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 17.61sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 17.61sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.61sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.61sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.61sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.62sWARNobjective_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 + 17.62sWARNobjective_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 + 17.62sWARNobjective_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 + 17.62sWARNobjective_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 + 17.62sWARNobjective_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 + 17.62sWARNobjective_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 + 17.64sINFOmove_group ×12 + 17.64sINFOmove_group******************************************************** ×6 + 17.64sINFOmove_group* MoveGroup using: ×3 + 17.64sINFOmove_group* - apply_planning_scene_service ×3 + 17.64sINFOmove_group* - clear_octomap_service ×3 + 17.64sINFOmove_group* - get_group_urdf ×3 + 17.64sINFOmove_group* - load_geometry_from_file ×3 + 17.64sINFOmove_group* - get_planning_scene_service ×3 + 17.64sINFOmove_group* - kinematics_service ×3 + 17.64sINFOmove_group* - save_geometry_to_file ×3 + 17.64sINFOmove_group* - GetPlanningGroups ×3 + 17.64sINFOmove_group* - URDFPlanningSceneCapability ×3 + 17.64sINFOmove_group[0m ×3 + 17.64sINFOmove_group[92mYou can start planning now![0m ×3 + 17.65sWARNcomponent_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 + 17.65sWARNcomponent_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 + 17.65sWARNcomponent_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 + 17.65sWARNcomponent_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 + 17.65sWARNcomponent_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 + 17.65sWARNcomponent_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 + 17.65sWARNcomponent_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 + 17.65sWARNcomponent_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 + 17.65sWARNcomponent_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 + 17.65sWARNcomponent_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 + 17.65sWARNcomponent_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 + 17.65sWARNcomponent_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 + 17.66sWARNcomponent_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 + 17.66sWARNcomponent_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 + 17.66sWARNcomponent_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 + 17.66sWARNcomponent_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 + 17.66sWARNcomponent_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 + 17.66sWARNcomponent_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 + 17.66sWARNcomponent_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 + 17.67sWARNcomponent_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 + 17.67sWARNcomponent_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 + 17.67sWARNcomponent_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 + 17.67sWARNcomponent_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 + 17.67sWARNcomponent_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 + 17.67sWARNcomponent_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 + 17.67sWARNcomponent_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 + 17.67sWARNcomponent_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 + 17.68sWARNcomponent_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 + 17.70sINFOobjective_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 + 17.70sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 17.73sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 17.73sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 17.73sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 17.73sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 17.73sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 17.73sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 17.73sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 17.86sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 17.86sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 17.91sINFOros2-13process has finished cleanly [pid 9369] + 17.92sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 18.01sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_id_i7g31 --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_kcmtuorr --params-file /tmp/launch_params_39wzq2kw [0m + 18.08sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 18.09sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 18.09sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 18.10sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 18.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 18.10sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 18.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 18.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 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 + 18.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 18.48sINFOros2_control_node[2026-07-19 16:03:20.754] [warning] No force/torque sensor configured. The VFC will ignore force references. + 18.48sINFOros2_control_node[2026-07-19 16:03:20.759] [info] Controller state will be published at 10 Hz. + 18.48sINFOros2_control_node[2026-07-19 16:03:20.760] [info] VelocityForceController 'on_configure' succeeded. + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810776 ms (missed cycles : 2).[0m + 18.81sWARNobjective_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 + 18.84sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 18.85sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 18.85sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_id_i7g31 --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_kcmtuorr --params-file /tmp/launch_params_39wzq2kw [0m + 18.87sINFOros2-18process has finished cleanly [pid 9379] + 18.99sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 18.99sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 18.99sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 18.99sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 18.99sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 18.99sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 18.99sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 19.00sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 19.29sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 19.29sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 19.30sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_id_i7g31 --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_kcmtuorr --params-file /tmp/launch_params_39wzq2kw [0m + 19.35sINFOros2-16process has finished cleanly [pid 9373] + 19.38sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 19.40sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 19.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 19.41sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812184 ms (missed cycles : 2).[0m + 19.77sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 19.77sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 19.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_id_i7g31 --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_kcmtuorr --params-file /tmp/launch_params_39wzq2kw [0m + 19.78sINFOros2-11process has finished cleanly [pid 9367] + 19.84sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 19.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 19.86sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 19.86sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 19.91sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 20.20sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 20.20sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 20.20sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_id_i7g31 --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_kcmtuorr --params-file /tmp/launch_params_39wzq2kw [0m + 20.23sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 20.25sINFOros2-10process has finished cleanly [pid 9366] + 20.27sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 20.27sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 20.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 20.30sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 20.31sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 20.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.077092 ms (missed cycles : 5).[0m + 20.63sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 20.63sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 20.66sINFOros2-14process has finished cleanly [pid 9371] + 20.73sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_id_i7g31 --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_kcmtuorr --params-file /tmp/launch_params_39wzq2kw [0m + 20.81sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 20.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 21.21sINFOros2_control_node[2026-07-19 16:03:23.488] [info] Controller state will be published at 20 Hz. + 21.21sINFOros2_control_node[2026-07-19 16:03:23.490] [info] JointVelocityController 'on_configure' succeeded. + 21.57sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 21.57sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 21.57sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_id_i7g31 --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_kcmtuorr --params-file /tmp/launch_params_39wzq2kw [0m + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.234558 ms (missed cycles : 5).[0m + 21.61sINFOros2-19process has finished cleanly [pid 9382] + 21.65sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 21.66sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 22.04sINFOros2_control_node[2026-07-19 16:03:24.320] [info] Controller state will be published at 20 Hz. + 22.04sINFOros2_control_node[2026-07-19 16:03:24.320] [info] JointVelocityController 'on_configure' succeeded. + 22.43sINFOros2-20process has finished cleanly [pid 9385] + 22.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341834 ms (missed cycles : 4).[0m + 22.72sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 22.72sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 22.72sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_id_i7g31 --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_kcmtuorr --params-file /tmp/launch_params_39wzq2kw [0m + 22.76sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 22.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 23.15sINFOros2_control_node[2026-07-19 16:03:25.428] [warning] No force/torque sensor configured. The VFC will ignore force references. + 23.15sINFOros2_control_node[2026-07-19 16:03:25.431] [info] Controller state will be published at 10 Hz. + 23.15sINFOros2_control_node[2026-07-19 16:03:25.433] [info] VelocityForceController 'on_configure' succeeded. + 23.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 23.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 23.50sINFOros2-17process has finished cleanly [pid 9374] + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788070 ms (missed cycles : 5).[0m + 24.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715471 ms (missed cycles : 2).[0m + 25.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.393622 ms (missed cycles : 7).[0m + 26.23sINFOros2_control_nodeMuJoCo sim: 1.15% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m + 26.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392362 ms (missed cycles : 6).[0m + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645330 ms (missed cycles : 3).[0m + 28.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477010.64678097 seconds. + 28.37sINFOmove_groupClearing octomap...[0m ×4 + 28.37sINFOmove_groupOctomap cleared.[0m ×4 + 28.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477010.65701699 seconds + 28.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540435 ms (missed cycles : 3).[0m + 28.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477011.21261740 seconds. + 28.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477011.22277164 seconds + 29.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477011.77149153 seconds. + 29.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477011.92210793 seconds + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994480 ms (missed cycles : 3).[0m + 30.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477012.52046704 seconds. + 30.26sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 30.26sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m + 30.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 30.26sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m + 30.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 30.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 30.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m + 30.30sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m + 30.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477012.59061623 seconds + 30.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477013.13886976 seconds. + 30.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 30.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810454 ms (missed cycles : 3).[0m + 30.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 30.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 30.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 31.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722130 ms (missed cycles : 2).[0m + 31.93sINFOobjective_server_nodePlanning for 177 path waypoints. + 32.21sINFOros2_control_nodeReceived new action goal[0m ×13 + 32.21sINFOros2_control_nodeAccepted new action goal[0m ×13 + 32.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296771 ms (missed cycles : 3).[0m + 33.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955263 ms (missed cycles : 2).[0m + 35.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784163 ms (missed cycles : 5).[0m + 36.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004275 ms (missed cycles : 5).[0m + 37.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.787696 ms (missed cycles : 6).[0m + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474128 ms (missed cycles : 6).[0m + 39.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525893 ms (missed cycles : 3).[0m + 40.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874087 ms (missed cycles : 5).[0m + 41.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356095 ms (missed cycles : 3).[0m + 42.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656785 ms (missed cycles : 3).[0m + 43.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700452 ms (missed cycles : 2).[0m + 44.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428851 ms (missed cycles : 3).[0m + 45.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981790 ms (missed cycles : 3).[0m + 46.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466736 ms (missed cycles : 3).[0m + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795720 ms (missed cycles : 2).[0m + 48.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760670 ms (missed cycles : 2).[0m + 49.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.355170 ms (missed cycles : 6).[0m + 50.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885533 ms (missed cycles : 2).[0m + 51.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132237 ms (missed cycles : 4).[0m + 52.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360701 ms (missed cycles : 4).[0m + 53.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.372820 ms (missed cycles : 6).[0m + 54.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396015 ms (missed cycles : 4).[0m + 55.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980069 ms (missed cycles : 2).[0m + 56.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475845 ms (missed cycles : 3).[0m + 57.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459324 ms (missed cycles : 3).[0m + 58.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703454 ms (missed cycles : 2).[0m + 59.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858051 ms (missed cycles : 5).[0m + 60.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268568 ms (missed cycles : 4).[0m + 61.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263964 ms (missed cycles : 4).[0m + 62.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584000 ms (missed cycles : 3).[0m + 63.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835307 ms (missed cycles : 4).[0m + 64.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816411 ms (missed cycles : 3).[0m + 65.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217256 ms (missed cycles : 2).[0m + 66.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672631 ms (missed cycles : 3).[0m + 67.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831221 ms (missed cycles : 2).[0m + 69.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143175 ms (missed cycles : 3).[0m + 70.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.216314 ms (missed cycles : 7).[0m + 71.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299755 ms (missed cycles : 2).[0m + 72.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634572 ms (missed cycles : 3).[0m + 73.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618021 ms (missed cycles : 4).[0m + 73.75sINFOros2_control_nodeGoal reached, success![0m ×12 + 73.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784477056.04850125 seconds + 74.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474830 ms (missed cycles : 3).[0m + 74.32sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784477056.59802461 seconds. + 75.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856227 ms (missed cycles : 3).[0m + 75.28sINFOobjective_server_nodeFound path in 0 iterations (3.1251e-05 s). + 75.29sINFOobjective_server_nodePath shortcutter: [X____X] + 75.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 76.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792623 ms (missed cycles : 2).[0m + 77.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032689 ms (missed cycles : 4).[0m + 77.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784477059.68817997 seconds + 77.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784477060.24418044 seconds. + 78.33sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 78.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513321 ms (missed cycles : 3).[0m + 79.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373996 ms (missed cycles : 4).[0m + 79.97sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 80.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983549 ms (missed cycles : 4).[0m + 81.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321532 ms (missed cycles : 2).[0m + 82.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622830 ms (missed cycles : 3).[0m + 83.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.820247 ms (missed cycles : 6).[0m + 84.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659862 ms (missed cycles : 4).[0m + 85.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992906 ms (missed cycles : 2).[0m + 86.24sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m + 86.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956568 ms (missed cycles : 2).[0m + 87.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805341 ms (missed cycles : 2).[0m + 88.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586881 ms (missed cycles : 2).[0m + 89.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642099 ms (missed cycles : 3).[0m + 90.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.572114 ms (missed cycles : 6).[0m + 91.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516957 ms (missed cycles : 3).[0m + 92.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098232 ms (missed cycles : 2).[0m + 93.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.667495 ms (missed cycles : 6).[0m + 94.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617006 ms (missed cycles : 4).[0m + 96.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.819573 ms (missed cycles : 5).[0m + 97.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582769 ms (missed cycles : 2).[0m + 98.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200087 ms (missed cycles : 2).[0m + 99.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823841 ms (missed cycles : 2).[0m +100.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478486 ms (missed cycles : 3).[0m +101.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030477 ms (missed cycles : 2).[0m +102.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640027 ms (missed cycles : 3).[0m +103.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172531 ms (missed cycles : 4).[0m +104.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489320 ms (missed cycles : 2).[0m +105.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522041 ms (missed cycles : 3).[0m +106.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952970 ms (missed cycles : 2).[0m +107.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969954 ms (missed cycles : 2).[0m +108.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700396 ms (missed cycles : 3).[0m +108.73sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +109.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.724424 ms (missed cycles : 6).[0m +110.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228376 ms (missed cycles : 3).[0m +111.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924362 ms (missed cycles : 5).[0m +112.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.261570 ms (missed cycles : 6).[0m +113.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047900 ms (missed cycles : 5).[0m +114.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.990070 ms (missed cycles : 5).[0m +115.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646466 ms (missed cycles : 3).[0m +116.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.061700 ms (missed cycles : 5).[0m +117.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284895 ms (missed cycles : 4).[0m +118.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317841 ms (missed cycles : 4).[0m +120.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127939 ms (missed cycles : 2).[0m +121.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.079734 ms (missed cycles : 7).[0m +122.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545626 ms (missed cycles : 5).[0m +123.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.067264 ms (missed cycles : 4).[0m +124.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889833 ms (missed cycles : 2).[0m +125.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418019 ms (missed cycles : 5).[0m +126.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912882 ms (missed cycles : 3).[0m +127.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498906 ms (missed cycles : 3).[0m +128.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731970 ms (missed cycles : 2).[0m +129.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330503 ms (missed cycles : 4).[0m +130.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907086 ms (missed cycles : 3).[0m +131.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696304 ms (missed cycles : 2).[0m +132.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428995 ms (missed cycles : 6).[0m +133.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259089 ms (missed cycles : 5).[0m +134.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784477116.57435966 seconds +134.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.972152 ms (missed cycles : 5).[0m +134.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784477117.14644408 seconds. +135.23sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). +135.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +135.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.393462 ms (missed cycles : 6).[0m +136.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808264 ms (missed cycles : 2).[0m +137.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467110 ms (missed cycles : 3).[0m +138.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956762 ms (missed cycles : 2).[0m +138.89sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784477121.16683030 seconds +139.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.851945 ms (missed cycles : 6).[0m +140.46sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784477122.74198508 seconds. +140.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916437 ms (missed cycles : 2).[0m +141.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.644586 ms (missed cycles : 6).[0m +142.66sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +142.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658262 ms (missed cycles : 4).[0m +143.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.774380 ms (missed cycles : 5).[0m +145.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421869 ms (missed cycles : 3).[0m +146.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727387 ms (missed cycles : 2).[0m +146.24sINFOros2_control_nodeMuJoCo sim: 1.14% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +147.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.028045 ms (missed cycles : 6).[0m +148.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827143 ms (missed cycles : 2).[0m +149.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550083 ms (missed cycles : 4).[0m +150.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410921 ms (missed cycles : 3).[0m +151.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444300 ms (missed cycles : 3).[0m +152.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154966 ms (missed cycles : 4).[0m +153.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526403 ms (missed cycles : 3).[0m +154.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804386 ms (missed cycles : 5).[0m +155.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189310 ms (missed cycles : 4).[0m +156.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769620 ms (missed cycles : 2).[0m +157.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548121 ms (missed cycles : 3).[0m +158.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158867 ms (missed cycles : 4).[0m +159.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125567 ms (missed cycles : 2).[0m +160.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825722 ms (missed cycles : 3).[0m +161.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.248072 ms (missed cycles : 7).[0m +162.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230648 ms (missed cycles : 2).[0m +163.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254337 ms (missed cycles : 4).[0m +165.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266732 ms (missed cycles : 4).[0m +166.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035870 ms (missed cycles : 2).[0m +167.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.141665 ms (missed cycles : 7).[0m +168.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013611 ms (missed cycles : 3).[0m +169.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623903 ms (missed cycles : 3).[0m +170.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.845589 ms (missed cycles : 8).[0m +171.11sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784477153.39214087 seconds +171.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678281 ms (missed cycles : 2).[0m +171.68sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784477153.95541167 seconds. +172.01sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). +172.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028578 ms (missed cycles : 5).[0m +173.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157928 ms (missed cycles : 4).[0m +173.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 +174.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.618966 ms (missed cycles : 6).[0m +175.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649358 ms (missed cycles : 3).[0m +176.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118647 ms (missed cycles : 2).[0m +177.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144105 ms (missed cycles : 4).[0m +178.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730145 ms (missed cycles : 2).[0m +179.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849573 ms (missed cycles : 3).[0m +180.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169727 ms (missed cycles : 2).[0m +181.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672026 ms (missed cycles : 3).[0m +182.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206090 ms (missed cycles : 3).[0m +183.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335890 ms (missed cycles : 4).[0m +184.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.897455 ms (missed cycles : 6).[0m +185.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860484 ms (missed cycles : 4).[0m +186.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321534 ms (missed cycles : 2).[0m +187.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671331 ms (missed cycles : 2).[0m +188.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806509 ms (missed cycles : 3).[0m +189.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.176913 ms (missed cycles : 7).[0m +190.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697973 ms (missed cycles : 4).[0m +191.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311721 ms (missed cycles : 2).[0m +192.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567106 ms (missed cycles : 3).[0m +193.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.812924 ms (missed cycles : 8).[0m +194.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348482 ms (missed cycles : 5).[0m +195.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.667632 ms (missed cycles : 7).[0m +196.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108221 ms (missed cycles : 4).[0m +197.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819363 ms (missed cycles : 2).[0m +198.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717901 ms (missed cycles : 2).[0m +199.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268458 ms (missed cycles : 2).[0m +200.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934003 ms (missed cycles : 5).[0m +201.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906612 ms (missed cycles : 2).[0m +203.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447008 ms (missed cycles : 4).[0m +203.34sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. +203.35sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. +203.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784477185.62562776 seconds +204.03sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784477186.31173706 seconds. +204.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534630 ms (missed cycles : 2).[0m +204.40sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). +205.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200621 ms (missed cycles : 2).[0m +206.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519423 ms (missed cycles : 3).[0m +206.25sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +207.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141256 ms (missed cycles : 2).[0m +208.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608299 ms (missed cycles : 3).[0m +209.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.459462 ms (missed cycles : 6).[0m +210.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.910537 ms (missed cycles : 5).[0m +211.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812771 ms (missed cycles : 3).[0m +212.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933200 ms (missed cycles : 3).[0m +213.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937529 ms (missed cycles : 2).[0m +214.23sINFOros2_control_nodeGot request to cancel goal[0m +214.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +214.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784477196.53085423 seconds +214.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221815 ms (missed cycles : 2).[0m +214.81sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784477197.08787465 seconds. +215.17sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). +215.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.328004 ms (missed cycles : 4).[0m +216.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580879 ms (missed cycles : 2).[0m +217.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935189 ms (missed cycles : 3).[0m +218.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403672 ms (missed cycles : 3).[0m +219.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276673 ms (missed cycles : 4).[0m +220.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754768 ms (missed cycles : 3).[0m +221.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.054576 ms (missed cycles : 7).[0m +222.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150118 ms (missed cycles : 2).[0m +223.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368015 ms (missed cycles : 4).[0m +224.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3).[0m +225.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.151740 ms (missed cycles : 7).[0m +226.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.886127 ms (missed cycles : 8).[0m +227.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113788 ms (missed cycles : 4).[0m +229.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808798 ms (missed cycles : 6).[0m +230.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737930 ms (missed cycles : 3).[0m +231.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932511 ms (missed cycles : 4).[0m +232.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184802 ms (missed cycles : 2).[0m +233.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.123304 ms (missed cycles : 6).[0m +234.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978167 ms (missed cycles : 2).[0m +235.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.174749 ms (missed cycles : 6).[0m +236.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060080 ms (missed cycles : 3).[0m +237.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895778 ms (missed cycles : 3).[0m +238.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673835 ms (missed cycles : 2).[0m +239.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259718 ms (missed cycles : 2).[0m +240.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556796 ms (missed cycles : 3).[0m +241.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268770 ms (missed cycles : 3).[0m +242.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596543 ms (missed cycles : 3).[0m +243.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599083 ms (missed cycles : 3).[0m +244.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155283 ms (missed cycles : 3).[0m +245.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956715 ms (missed cycles : 2).[0m +246.10sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. +246.11sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. +246.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784477228.38809347 seconds +246.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863965 ms (missed cycles : 2).[0m +246.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784477229.01065707 seconds. +247.09sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 +247.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.578074 ms (missed cycles : 6).[0m +248.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196851 ms (missed cycles : 2).[0m +249.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143979 ms (missed cycles : 2).[0m +250.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942786 ms (missed cycles : 2).[0m +251.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.146677 ms (missed cycles : 5).[0m +252.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961931 ms (missed cycles : 3).[0m +253.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.123178 ms (missed cycles : 7).[0m +254.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256954 ms (missed cycles : 3).[0m +255.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.682596 ms (missed cycles : 6).[0m +256.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986538 ms (missed cycles : 2).[0m +257.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858395 ms (missed cycles : 5).[0m +258.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359855 ms (missed cycles : 3).[0m +259.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105927 ms (missed cycles : 2).[0m +260.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836838 ms (missed cycles : 5).[0m +261.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.936822 ms (missed cycles : 7).[0m +262.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468206 ms (missed cycles : 2).[0m +263.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665368 ms (missed cycles : 2).[0m +264.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929637 ms (missed cycles : 2).[0m +266.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870016 ms (missed cycles : 5).[0m +266.25sINFOros2_control_nodeMuJoCo sim: 1.19% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +267.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917042 ms (missed cycles : 3).[0m +268.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.761131 ms (missed cycles : 6).[0m +269.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426836 ms (missed cycles : 4).[0m +270.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516687 ms (missed cycles : 3).[0m +271.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917195 ms (missed cycles : 2).[0m +272.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158210 ms (missed cycles : 2).[0m +273.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592777 ms (missed cycles : 2).[0m +274.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593428 ms (missed cycles : 3).[0m +275.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194790 ms (missed cycles : 2).[0m +276.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.057977 ms (missed cycles : 5).[0m +277.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745265 ms (missed cycles : 2).[0m +278.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.365154 ms (missed cycles : 4).[0m +279.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116007 ms (missed cycles : 2).[0m +280.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750249 ms (missed cycles : 3).[0m +281.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960685 ms (missed cycles : 2).[0m +282.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182520 ms (missed cycles : 7).[0m +283.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090677 ms (missed cycles : 3).[0m +284.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219446 ms (missed cycles : 4).[0m +285.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.051946 ms (missed cycles : 4).[0m +286.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600224 ms (missed cycles : 2).[0m +287.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895062 ms (missed cycles : 5).[0m +288.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510793 ms (missed cycles : 2).[0m +289.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282635 ms (missed cycles : 2).[0m +290.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685699 ms (missed cycles : 3).[0m +291.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924276 ms (missed cycles : 3).[0m +292.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731396 ms (missed cycles : 2).[0m +293.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815992 ms (missed cycles : 3).[0m +294.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871717 ms (missed cycles : 3).[0m +295.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.880719 ms (missed cycles : 4).[0m +296.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904743 ms (missed cycles : 2).[0m +298.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734348 ms (missed cycles : 3).[0m +299.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649598 ms (missed cycles : 3).[0m +300.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.542836 ms (missed cycles : 6).[0m +301.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632065 ms (missed cycles : 2).[0m +301.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784477283.63081837 seconds +301.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784477284.19919920 seconds. +302.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974067 ms (missed cycles : 2).[0m +302.25sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). +303.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.254857 ms (missed cycles : 6).[0m +304.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338443 ms (missed cycles : 4).[0m +305.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327124 ms (missed cycles : 2).[0m +306.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764577 ms (missed cycles : 3).[0m +306.48sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). +306.50sINFOobjective_server_nodePath shortcutter: [X__________________X] +306.53sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). +306.57sINFOobjective_server_nodePath shortcutter: [X____________________X] +306.60sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). +306.65sINFOobjective_server_nodePath shortcutter: [X_________________________X] +306.69sINFOobjective_server_nodeFound path in 0 iterations (1.08e-06 s). +306.82sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +307.10sINFOobjective_server_nodeFound path in 69 iterations (0.0498964 s). +307.28sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] +307.33sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 +307.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536696 ms (missed cycles : 3).[0m +307.73sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +308.10sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +308.34sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +308.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.854045 ms (missed cycles : 4).[0m +309.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237645 ms (missed cycles : 3).[0m +310.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498717 ms (missed cycles : 3).[0m +311.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107800 ms (missed cycles : 2).[0m +312.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304852 ms (missed cycles : 4).[0m +313.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734706 ms (missed cycles : 3).[0m +314.35sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784477296.63165450 seconds +314.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810542 ms (missed cycles : 2).[0m +314.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784477297.23297238 seconds. +315.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784477297.71311331 seconds +315.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.182308 ms (missed cycles : 5).[0m +315.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784477298.26710129 seconds. +316.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784477298.70724154 seconds +316.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +317.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117567 ms (missed cycles : 4).[0m +317.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941897 ms (missed cycles : 2).[0m +318.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971223 ms (missed cycles : 5).[0m +319.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833839 ms (missed cycles : 3).[0m +320.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197441 ms (missed cycles : 5).[0m +321.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.879094 ms (missed cycles : 6).[0m +322.73sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.74sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.74sERRORweb_video_server-33process[web_video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.75sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.75sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.76sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.76sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.77sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.77sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.78sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.78sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.79sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.79sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] +322.81sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.81sERRORweb_video_auth_proxy-35process has died [pid 9436, 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']. +322.81sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.82sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.82sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.83sERRORfixed_lag_smoother_node-8process[fixed_lag_smoother_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.83sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.83sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] +322.85sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.86sERRORweb_bridge_auth_proxy-34process has died [pid 9435, 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']. +322.86sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.86sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.87sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.87sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.87sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.88sINFOweb_video_server-33sending signal 'SIGTERM' to process[web_video_server-33] +322.90sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] +322.93sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] +322.95sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] +322.98sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] +323.00sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] +323.03sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] +323.06sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] +323.08sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] +323.11sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] +323.14sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] +323.17sINFOweb_video_server-33process has finished cleanly [pid 9434] +323.17sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9433] +323.18sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] +323.20sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] +323.24sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] +323.26sINFOfixed_lag_smoother_node-8sending signal 'SIGTERM' to process[fixed_lag_smoother_node-8] +323.27sERRORui_teleop_bridge-30process has died [pid 9431, 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_6z8k28hf']. +323.28sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +323.29sERRORmove_group-21process has died [pid 9386, 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_6msjo87c --params-file /tmp/launch_params_evi6ks31 --params-file /tmp/launch_params_j0ies7uj --params-file /tmp/launch_params_su1soug_ --params-file /tmp/launch_params_y2a6eev_ --params-file /tmp/launch_params_2btixtc8']. +323.31sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +323.31sINFOcomponent_container_mt-28process has finished cleanly [pid 9429] +323.31sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system +323.33sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +323.36sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] +323.36sINFOexecute_objective_bridge-29process has finished cleanly [pid 9430] +323.38sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] +323.40sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +323.42sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +323.42sERRORobjective_server_node_main-26process has died [pid 9423, 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_hapagkhq --params-file /tmp/launch_params_3k20gx6i --params-file /tmp/launch_params_we6gy6z9 --params-file /tmp/launch_params_rjv0pugv --params-file /tmp/launch_params_lwf3gw2w --params-file /tmp/launch_params_qir9zixs --params-file /tmp/launch_params_ttjk80th --params-file /tmp/launch_params_w9ruf_v_ --params-file /tmp/launch_params_gxaqqsw5']. +323.43sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +323.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694962 ms (missed cycles : 2).[0m +323.43sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +323.43sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +323.43sERRORui_teleop_bridgeTraceback (most recent call last): +323.43sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +323.43sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +323.43sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.43sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main +323.43sINFOui_teleop_bridgerclpy.shutdown() +323.43sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +323.43sINFOui_teleop_bridge_shutdown(context=context) +323.43sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +323.43sINFOui_teleop_bridgecontext.shutdown() +323.43sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +323.43sINFOui_teleop_bridgeself.__context.shutdown() +323.43sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +323.43sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +323.43sINFOobjective_server_node[0;m[0m[INFO] [2026-07-19 16:08:25.336] signal_handler(SIGINT/SIGTERM)[0m +323.43sINFOcomponent_container_mtStopping planning scene monitor[0m +323.43sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +323.43sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +323.44sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +323.44sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system +323.44sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +323.44sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +323.44sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +323.44sERRORmove_groupwhat(): context cannot be slept with because it's invalid +323.44sERRORmove_groupStack trace (most recent call last) in thread 10013: +323.44sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +323.44sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff390444a63, in __clone +323.44sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff3903b7aa3, in +323.44sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff390649db3, in +323.44sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7ff390c9e1c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +323.44sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff3909bc4d0, in rclcpp::Rate::sleep() +323.44sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff39090fa88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +323.44sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff3908d4a71, in +323.44sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff390618390, in __cxa_throw +323.44sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff390602a54, in std::terminate() +323.44sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff3906180d9, in +323.44sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff390602ff4, in +323.44sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff3903438fe, in abort +323.44sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff39036027d, in raise +323.44sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff3903b9b2c, in pthread_kill +323.44sERRORmove_groupAborted (Signal sent by tkill() 9386 0) +323.44sINFOobjective_server_node[2026-07-19 16:08:25.513] [moveit_pro_license] [info] +323.44sINFOobjective_server_node* Application has successfully terminated +323.44sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +323.44sINFOros2_control_nodeShutdown request received....[0m +323.44sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +323.44sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +323.44sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +323.44sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +323.44sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +323.44sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +323.44sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +323.44sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +323.44sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +323.45sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +323.45sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +323.45sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +323.45sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +323.45sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +323.45sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +323.45sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +323.45sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +323.45sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +323.45sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +323.45sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +323.45sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +323.45sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +323.45sINFOros2_control_nodeShutting down the controller manager.[0m +323.45sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +323.45sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 +323.45sERRORobjective_server_nodeStack trace (most recent call last): +323.45sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +323.45sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561c143b86a4, in _start +323.45sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2bb708c28a, in __libc_start_main +323.45sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2bb708c1d0, in +323.45sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2bb70a9bbd, in exit +323.45sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2bb70a9a75, in +323.45sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f2bb75788f5, in spdlog::details::registry::~registry() +323.45sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561c143b8d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +323.45sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561c143bf315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +323.45sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561c143be5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +323.45sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561c143bab7b, in spdlog_ros::RosSink::~RosSink() +323.45sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561c143b8d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +323.45sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2bb7c2e454, in rclcpp::Node::~Node() +323.45sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2bb7be9515, in +323.45sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2bb7c2cd20, in +323.45sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2bb7c2cc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +323.45sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2bb7be95d9, in +323.45sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2bb7bee161, in rclcpp::CallbackGroup::~CallbackGroup() +323.45sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f2b6edc4160]) +323.45sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +323.46sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +323.46sERRORodom_qos_relay.pyTraceback (most recent call last): +323.46sINFOodom_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> +323.46sINFOodom_qos_relay.pymain() +323.46sINFOodom_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 +323.46sINFOodom_qos_relay.pyrclpy.spin(node) +323.46sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +323.46sINFOodom_qos_relay.pyexecutor.spin_once() +323.46sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +323.46sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +323.46sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +323.46sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +323.46sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.46sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +323.46sINFOodom_qos_relay.pyreturn next(self._cb_iter) +323.46sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +323.46sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +323.46sINFOodom_qos_relay.pyraise ExternalShutdownException() +323.46sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +323.46sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m +323.46sERRORodom_world_drift.pyTraceback (most recent call last): +323.46sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 128, in <module> +323.46sINFOodom_world_drift.pymain() +323.46sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 119, in main +323.46sINFOodom_world_drift.pyrclpy.spin(node) +323.46sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +323.46sINFOodom_world_drift.pyexecutor.spin_once() +323.46sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +323.46sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) +323.46sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +323.46sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( +323.46sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.46sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +323.47sINFOodom_world_drift.pyreturn next(self._cb_iter) +323.47sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ +323.47sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +323.47sINFOodom_world_drift.pyraise ExternalShutdownException() +323.47sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException +323.47sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m +323.47sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system +323.47sINFOros2_control_nodeAsync messages lost 0[0m ×2 +323.47sINFOros2_control_nodepublish_async_failures_ 4[0m +323.47sINFOros2_control_nodepublish_async_failures_ 2[0m +324.14sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9422] +324.17sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9421] +324.25sINFOparameter_manager_node-22process has finished cleanly [pid 9388] +324.25sINFOwaypoint_manager_node-23process has finished cleanly [pid 9390] +324.29sINFOcomponent_container_mt-27process has finished cleanly [pid 9424] +324.33sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9286] +324.35sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9285] +324.44sERRORodom_qos_relay.py-5process has died [pid 9284, 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']. +324.44sINFOstatic_transform_publisher-2process has finished cleanly [pid 9281] +324.56sINFOslip_aware_odom-4process has finished cleanly [pid 9283] +324.59sINFOfixed_lag_smoother_node-8process has finished cleanly [pid 9287] +325.47sERRORodom_world_drift.py-3process has died [pid 9282, 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']. +325.93sINFOweb_bridge-31process has finished cleanly [pid 9432] +325.93sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system +326.07sINFOros2_control_node-9process has finished cleanly [pid 9288] +327.73sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +327.75sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] +327.76sERRORcomponent_container_isolated-1process has died [pid 9280, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_x7nm_rqq --params-file /tmp/launch_params_kvw0y06v -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +335.64sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-19-16-08-34-766324-0724b2b833f1-13041 ×2 +348.49sINFOstatic_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' +348.61sINFOstate_estimatorReceived a set_pose request (stamp: 1784477330893090218, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +348.64sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +348.66sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +348.67sINFOcontroller_managerupdate rate is 600 Hz +348.67sINFOcontroller_managerOverruns handling is : enabled +348.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +348.67sWARNcontroller_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. +348.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +348.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +348.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +348.72sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. +348.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532461 ms (missed cycles : 6). +348.75sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +348.76sINFOros2_control_node-9process started with pid [13099] ×2 +348.76sINFOmove_group-21process started with pid [13188] ×2 +348.76sINFOparameter_manager_node-22process started with pid [13189] ×2 +348.76sINFOwaypoint_manager_node-23process started with pid [13190] ×2 +348.76sINFOmove_joint_resampler_node-24process started with pid [13228] ×2 +348.76sINFOmove_end_effector_resampler_node-25process started with pid [13245] ×2 +348.76sINFOobjective_server_node_main-26process started with pid [13246] ×2 +348.76sINFOcomponent_container_mt-27process started with pid [13249] ×2 +348.76sINFOcomponent_container_mt-28process started with pid [13250] ×2 +348.76sINFOexecute_objective_bridge-29process started with pid [13251] ×2 +348.76sINFOui_teleop_bridge-30process started with pid [13252] ×2 +348.76sINFOweb_bridge-31process started with pid [13253] ×2 +348.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +348.76sINFOtf2_web_republisher_node-32process started with pid [13254] ×2 +348.76sINFOweb_video_server-33process started with pid [13255] ×2 +348.76sINFOweb_bridge_auth_proxy-34process started with pid [13256] ×2 +348.76sINFOweb_video_auth_proxy-35process started with pid [13257] ×2 +348.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +348.78sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +348.79sINFOcomponent_container_isolated-1process started with pid [13091] ×2 +348.79sINFOstatic_transform_publisher-2process started with pid [13092] ×2 +348.79sINFOodom_world_drift.py-3process started with pid [13093] ×2 +348.79sINFOslip_aware_odom-4process started with pid [13094] ×2 +348.79sINFOodom_qos_relay.py-5process started with pid [13095] ×2 +348.79sINFOscan_to_scan_filter_chain-6process started with pid [13096] ×2 +348.79sINFOscan_to_scan_filter_chain-7process started with pid [13097] ×2 +348.79sINFOfixed_lag_smoother_node-8process started with pid [13098] ×2 +348.79sINFOros2-10process started with pid [13170] ×2 +348.79sINFOros2-11process started with pid [13171] ×2 +348.79sINFOros2-12process started with pid [13172] ×2 +348.79sINFOros2-13process started with pid [13173] ×2 +348.79sINFOros2-14process started with pid [13174] ×2 +348.79sINFOros2-15process started with pid [13179] ×2 +348.79sINFOros2-16process started with pid [13183] ×2 +348.79sINFOros2-17process started with pid [13184] ×2 +348.79sINFOros2-18process started with pid [13185] ×2 +348.79sINFOros2-19process started with pid [13186] ×2 +348.79sINFOros2-20process started with pid [13187] ×2 +348.81sINFOcontroller_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. +348.88sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +348.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532461 ms (missed cycles : 6).[0m ×2 +348.95sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +348.95sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +348.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +348.97sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +348.98sINFOcontroller_serverCreating controller server +349.01sINFOlocal_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. +349.02sINFOlocal_costmap.local_costmapCreating Costmap +349.06sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +349.08sINFOrobot_state_publisherRobot initialized +349.08sINFOcontroller_managerReceived robot description from topic. +349.08sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +349.10sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +349.10sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +349.10sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +349.10sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +349.10sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +349.13sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +349.13sINFOmap_serverCreating +349.13sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +349.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +349.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +349.14sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +349.17sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +349.20sINFOsmoother_serverCreating smoother server +349.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +349.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +349.21sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +349.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +349.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +349.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +349.29sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +349.29sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +349.32sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +349.32sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +349.35sINFOplanner_serverCreating +349.38sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +349.38sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +349.38sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +349.38sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +349.38sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +349.38sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +349.38sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +349.38sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +349.38sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 +349.40sINFOglobal_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. +349.40sINFOglobal_costmap.global_costmapCreating Costmap +349.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +349.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +349.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +349.43sINFOlifecycle_manager_localizationCreating +349.46sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +349.46sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +349.47sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +349.47sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +349.47sINFOmap_serverConfiguring +349.47sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.403369 seconds +349.47sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +349.47sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +349.48sINFOmove_groupLoaded robot model in 0.403369 seconds[0m ×2 +349.48sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +349.48sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +349.51sWARNlaser_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. +349.51sWARNlaser_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. +349.52sINFObehavior_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. +349.54sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +349.54sINFOamclConfiguring +349.55sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +349.55sINFOmap_serverActivating +349.55sINFOmap_serverCreating bond (map_server) to lifecycle manager. +349.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +349.58sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +349.58sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +349.67sINFObt_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. +349.67sINFOlifecycle_manager_localizationServer map_server connected with bond. +349.67sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +349.67sINFOamclActivating +349.67sINFOamclSubscribed to initial_pose_topic: /initialpose +349.67sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +349.69sINFOamclSubscribed to map_topic: /map +349.69sINFOamclSubscribed to scan_topic: /scan_merged +349.69sINFOamclCreated reinitialize_global_localization service +349.69sINFOamclCreated request_nomotion_update service +349.70sINFOamclA new map was received +349.70sINFOamclInitializing particle filter instance +349.70sINFObt_navigatorCreating +349.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +349.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +349.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +349.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031441 ms (missed cycles : 2). +349.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031441 ms (missed cycles : 2).[0m ×2 +349.77sINFOwaypoint_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. +349.78sINFOwaypoint_followerCreating +349.80sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +349.80sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +349.80sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +349.84sINFOvelocity_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. +349.89sINFOlifecycle_manager_navigationCreating +349.90sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +349.92sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +349.92sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +349.92sINFOcontroller_serverConfiguring controller interface +349.92sINFOcontroller_servergetting progress checker plugins.. +349.92sINFOcontroller_servergetting goal checker plugins.. +349.92sINFOcontroller_serverController frequency set to 20.0000Hz +349.92sINFOlocal_costmap.local_costmapConfiguring +349.95sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +349.96sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +350.00sINFOwaypoint_manager_nodeLoaded robot model in 0.40535 seconds[0m ×2 +350.02sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +350.02sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +350.03sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +350.10sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +350.11sINFOcontroller_serverController Server has progress_checker progress checkers available. +350.11sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +350.12sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +350.12sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +350.15sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +350.16sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +350.16sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +350.18sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +350.18sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +350.18sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +350.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +350.18sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +350.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +350.20sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +350.20sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +350.20sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +350.21sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +350.21sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +350.21sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +350.21sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +350.23sINFOcontroller_serverOptimizer reset +350.25sINFOcontroller_serverController Server has FollowPath controllers available. +350.25sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +350.25sWARNmove_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. +350.25sWARNmove_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. +350.25sWARNmove_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. +350.25sWARNmove_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. +350.26sWARNmove_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. +350.26sWARNmove_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. +350.27sWARNmove_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. +350.27sWARNmove_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. +350.27sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +350.27sWARNmove_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. +350.27sWARNmove_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. +350.28sINFOsmoother_serverConfiguring smoother server +350.30sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +350.33sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +350.34sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +350.34sINFOplanner_serverConfiguring +350.34sINFOglobal_costmap.global_costmapConfiguring +350.35sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +350.37sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +350.37sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +350.37sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +350.38sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +350.42sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +350.42sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +350.43sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +350.45sFATALplanner_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 +350.45sINFOplanner_serverCleaning up +350.45sINFOglobal_costmap.global_costmapCleaning up +350.46sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +350.50sINFOamclParticle filter initialization completed +350.50sINFOamclInitializing particles from estimated pose and covariance +350.50sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 +350.50sINFOamclThe bond connection to the lifecycle manager is now fully formed +350.51sINFOlifecycle_manager_localizationServer amcl connected with bond. +350.51sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +350.51sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +350.53sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +350.53sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +350.60sWARNwaypoint_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. +350.60sWARNwaypoint_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. +350.61sWARNwaypoint_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. +350.61sWARNwaypoint_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. +350.61sWARNwaypoint_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. +350.61sWARNwaypoint_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. +350.61sWARNwaypoint_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. +350.61sWARNwaypoint_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. +350.61sWARNwaypoint_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. +350.61sWARNwaypoint_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. +350.63sWARNwaypoint_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. +350.63sWARNwaypoint_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. +350.63sWARNwaypoint_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. +350.63sWARNwaypoint_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. +350.63sWARNwaypoint_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. +350.63sWARNwaypoint_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. +350.63sWARNwaypoint_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. +350.63sWARNwaypoint_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. +350.63sWARNwaypoint_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. +350.63sWARNwaypoint_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. +350.65sWARNwaypoint_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. +350.65sWARNwaypoint_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. +350.66sWARNwaypoint_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. +350.66sWARNwaypoint_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. +350.66sWARNwaypoint_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. +350.66sWARNwaypoint_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. +350.66sWARNwaypoint_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. +350.66sWARNwaypoint_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. +350.80sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +350.98sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +350.98sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +350.99sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +350.99sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +350.99sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +350.99sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +350.99sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +351.00sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +351.01sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +351.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097800 ms (missed cycles : 2). +351.02sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +351.02sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +351.02sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +351.03sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +351.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097800 ms (missed cycles : 2).[0m ×2 +351.81sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +351.81sINFOcontroller_managerActivating component 'ur_mujoco_control'. +351.81sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +351.81sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +351.86sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +351.86sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +352.05sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +352.05sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +352.06sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v +352.06sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v [0m ×2 +352.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +352.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +352.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +352.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +352.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +352.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +352.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +352.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +352.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +352.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +352.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +352.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +352.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +352.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +352.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +352.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +352.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +352.13sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +352.14sINFOobjective_server_node[2026-07-19 16:08:54.417] [moveit_pro_license] [info] ×2 +352.15sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +352.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820956 ms (missed cycles : 2). +352.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +352.15sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +352.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820956 ms (missed cycles : 2).[0m ×2 +352.15sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +352.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +352.16sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +352.16sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +352.16sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +352.17sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +352.19sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +352.20sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +352.21sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +352.21sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +352.21sINFOstreaming_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) +352.21sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +352.21sINFOobjective_server_nodeLoaded robot model in 0.0309779 seconds[0m ×2 +352.41sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +352.41sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +352.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +352.47sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +352.50sINFOstreaming_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) +352.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +352.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +352.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v +352.57sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v [0m ×2 +352.61sINFOros2-16process has finished cleanly [pid 13183] ×2 +352.61sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +352.61sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +352.61sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +352.61sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +352.61sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +352.61sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +352.62sWARNobjective_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. +352.62sWARNobjective_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. +352.62sWARNobjective_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. +352.62sWARNobjective_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. +352.62sWARNobjective_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. +352.65sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +352.66sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +352.66sINFOplatform_velocity_controller_nav2configure successful +352.74sINFOmove_groupMoveGroup debug mode is ON +352.85sINFOcomponent_container_mtLoaded robot model in 0.413649 seconds[0m ×2 +352.93sINFOmove_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
********************************************************
+353.03sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +353.05sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784477334.228 for reason 'discarding message because the queue is full' +353.10sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +353.10sINFOcontroller_managerLoading controller 'joint_velocity_controller' +353.13sINFOros2-15process has finished cleanly [pid 13179] ×2 +353.20sWARNplanning_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. +353.20sWARNplanning_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. +353.20sWARNplanning_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. +353.20sWARNplanning_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. +353.20sWARNplanning_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. +353.20sWARNplanning_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. +353.21sWARNplanning_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. +353.21sWARNplanning_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. +353.21sWARNplanning_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. +353.21sWARNplanning_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. +353.21sWARNplanning_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. +353.21sWARNplanning_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. +353.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156696 ms (missed cycles : 5). +353.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156696 ms (missed cycles : 5).[0m ×2 +353.22sWARNplanning_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. +353.22sWARNplanning_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. +353.22sWARNplanning_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. +353.22sWARNplanning_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. +353.22sWARNplanning_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. +353.22sWARNplanning_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. +353.23sWARNplanning_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. +353.23sWARNplanning_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. +353.23sWARNplanning_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. +353.23sWARNplanning_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. +353.23sWARNplanning_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. +353.23sWARNplanning_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. +353.23sWARNplanning_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. +353.23sWARNplanning_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. +353.23sWARNplanning_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. +353.23sWARNplanning_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. +353.25sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v +353.26sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v [0m ×2 +353.32sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +353.33sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +353.70sINFOros2_control_node[2026-07-19 16:08:55.976] [info] Controller state will be published at 20 Hz. ×2 +353.70sINFOros2_control_node[2026-07-19 16:08:55.977] [info] JointVelocityController 'on_configure' succeeded. ×2 +354.06sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +354.06sINFOros2-19process has finished cleanly [pid 13186] ×2 +354.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048120 ms (missed cycles : 5). +354.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048120 ms (missed cycles : 5).[0m ×2 +354.32sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +354.32sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +354.41sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v +354.41sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v [0m ×2 +354.45sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +354.45sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +354.79sINFOros2_control_node[2026-07-19 16:08:57.068] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +354.79sINFOros2_control_node[2026-07-19 16:08:57.072] [info] Controller state will be published at 10 Hz. ×2 +354.79sINFOros2_control_node[2026-07-19 16:08:57.073] [info] VelocityForceController 'on_configure' succeeded. ×2 +355.11sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +355.11sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +355.12sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v +355.12sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v [0m ×2 +355.17sINFOros2-18process has finished cleanly [pid 13185] ×2 +355.19sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +355.19sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +355.20sINFOforce_torque_sensor_broadcasterconfigure successful +355.22sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +355.22sINFOcontroller_managerSuccessfully switched controllers! ×8 +355.22sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +355.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217868 ms (missed cycles : 2). +355.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217868 ms (missed cycles : 2).[0m ×2 +355.53sINFOros2-10process has finished cleanly [pid 13170] ×2 +355.55sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +355.55sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +355.56sINFOcontroller_managerLoading controller 'velocity_force_controller' +355.56sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v +355.56sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v [0m ×2 +355.56sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784477336.728 for reason 'discarding message because the queue is full' +355.58sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +355.58sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +355.95sINFOros2_control_node[2026-07-19 16:08:58.225] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +355.95sINFOros2_control_node[2026-07-19 16:08:58.229] [info] Controller state will be published at 10 Hz. ×2 +355.95sINFOros2_control_node[2026-07-19 16:08:58.230] [info] VelocityForceController 'on_configure' succeeded. ×2 +356.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +356.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +356.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v +356.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v [0m ×2 +356.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337233 ms (missed cycles : 3). +356.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337233 ms (missed cycles : 3).[0m ×2 +356.33sINFOros2-17process has finished cleanly [pid 13184] ×2 +356.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +356.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +356.73sINFOros2_control_node[2026-07-19 16:08:59.008] [info] Controller state will be published at 20 Hz. ×2 +356.73sINFOros2_control_node[2026-07-19 16:08:59.009] [info] JointVelocityController 'on_configure' succeeded. ×2 +357.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +357.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +357.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v +357.09sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v [0m ×2 +357.11sINFOros2-20process has finished cleanly [pid 13187] ×2 +357.16sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +357.16sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +357.17sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +357.17sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +357.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863901 ms (missed cycles : 3). +357.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863901 ms (missed cycles : 3).[0m ×2 +357.54sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +357.54sINFOcontroller_managerLoading controller 'platform_velocity_controller' +357.54sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v +357.54sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v [0m ×2 +357.57sINFOros2-11process has finished cleanly [pid 13171] ×2 +357.61sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +357.61sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +357.62sINFOplatform_velocity_controllerconfigure successful +357.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +357.63sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +357.97sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +357.97sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +357.97sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v +357.98sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v [0m ×2 +358.01sINFOros2-13process has finished cleanly [pid 13173] ×2 +358.06sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +358.06sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +358.06sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +358.06sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +358.06sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +358.08sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +358.08sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +358.16sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784477339.328 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +358.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.889ms +358.39sWARNstate_estimatorOptimization exceeded the configured duration by 58197347ns +358.44sINFOros2-12process has finished cleanly [pid 13172] ×2 +358.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281920 ms (missed cycles : 2). +358.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281920 ms (missed cycles : 2).[0m ×2 +358.47sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... +358.47sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +358.47sINFOcontroller_managerLoading controller 'vacuum_gripper' +358.48sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v +358.48sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_x234rjyp --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_af_6jm4c --params-file /tmp/launch_params_8owlmp7v [0m ×2 +358.50sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +358.50sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +358.51sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +358.51sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +358.51sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +358.52sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +358.83sINFOros2-14process has finished cleanly [pid 13174] ×2 +359.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2). +359.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2).[0m ×2 +360.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814896 ms (missed cycles : 5). +360.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814896 ms (missed cycles : 5).[0m ×2 +361.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2). +361.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 +361.87sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 +362.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). +362.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 +363.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). +363.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 +363.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 +363.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +363.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +363.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 +364.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 +364.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 +364.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). +364.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 +365.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 +365.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 +365.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). +365.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 +365.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 +365.77sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +365.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +365.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +365.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +365.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +365.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +365.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +365.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +365.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +365.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +365.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 +366.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 +366.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +366.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +366.41sINFOcontroller_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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 6.814896 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814896 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 6.91sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814896 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814896 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814896 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814896 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814896 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814896 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 6.814896 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814896 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[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 6.814896 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814896 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − 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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − 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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNstate_estimatorOptimization exceeded the configured duration by 71192281ns + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041776 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041776 ms (missed cycles : 2).[0m ×2 | ||||
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/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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 3.057237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057237 ms (missed cycles : 2).[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064479 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510146 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784477346.15138721 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784477346.16169477 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784477346.72079325 seconds. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784477346.74093533 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860260 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784477347.28940964 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784477347.44018579 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.198106 ms (missed cycles : 8).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784477348.03676701 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784477348.11694622 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784477348.66965961 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466030 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870647 ms (missed cycles : 3).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||