69
Total objective tests
15
Objectives passed
2
Objectives failed
52
Objectives skipped
19.8s
Avg test time
88%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives2 fail10 pass25 skip
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 34.5s | 6 errors · 124 warnings · 207 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321117 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321117 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.742ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms ×2 + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.778ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241318 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241318 ms (missed cycles : 2).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311471 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311471 ms (missed cycles : 4).[0m ×2 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms ×2 + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176068 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176068 ms (missed cycles : 4).[0m ×2 + 3.60sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.60sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.65sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784639758.71219420 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.055ms + 3.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.058ms + 4.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.248ms + 4.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784639759.27691388 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.471730 ms (missed cycles : 7). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.471730 ms (missed cycles : 7).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.231ms + 4.56sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 4.61sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 2.673ms + 4.81sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.971ms + 4.89sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.581ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 5.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374655 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374655 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms + 5.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 5.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.83sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.83sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 6.04sWARNstate_estimatorOptimization exceeded the configured duration by 58082263ns + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 6.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083028 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083028 ms (missed cycles : 4).[0m ×2 + 6.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms ×2 + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 6.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 7.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 7.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957712 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957712 ms (missed cycles : 3).[0m ×2 + 8.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008695 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008695 ms (missed cycles : 2).[0m ×2 + 8.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms ×2 + 8.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 9.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708235 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708235 ms (missed cycles : 2).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 9.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.815ms + 10.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 10.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 10.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792146 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792146 ms (missed cycles : 2).[0m ×2 + 10.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.796ms + 11.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981255 ms (missed cycles : 2). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981255 ms (missed cycles : 2).[0m ×2 + 11.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms ×2 + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 12.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms ×2 + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052800 ms (missed cycles : 4). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052800 ms (missed cycles : 4).[0m ×2 + 12.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 12.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 13.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783872 ms (missed cycles : 3). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783872 ms (missed cycles : 3).[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 14.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 14.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327668 ms (missed cycles : 3). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327668 ms (missed cycles : 3).[0m ×2 + 14.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 15.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833996 ms (missed cycles : 2). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833996 ms (missed cycles : 2).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.252ms + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms ×2 + 16.19sWARNstate_estimatorOptimization exceeded the configured duration by 13267725ns + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170722 ms (missed cycles : 2). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170722 ms (missed cycles : 2).[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897441 ms (missed cycles : 3). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897441 ms (missed cycles : 3).[0m ×2 + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.768ms + 18.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.715ms + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014782 ms (missed cycles : 7). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014782 ms (missed cycles : 7).[0m ×2 + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 19.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 19.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883866 ms (missed cycles : 5). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883866 ms (missed cycles : 5).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.083ms + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms ×2 + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.326ms + 20.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 20.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006498 ms (missed cycles : 2). + 20.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006498 ms (missed cycles : 2).[0m ×2 + 21.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 21.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 21.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258067 ms (missed cycles : 4). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258067 ms (missed cycles : 4).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 22.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 22.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.479955 ms (missed cycles : 6). + 22.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.479955 ms (missed cycles : 6).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 23.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336978 ms (missed cycles : 3). + 23.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336978 ms (missed cycles : 3).[0m ×2 + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.265ms + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.301ms + 25.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059978 ms (missed cycles : 4). + 25.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059978 ms (missed cycles : 4).[0m ×2 + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.775ms + 25.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.726ms + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.245538 ms (missed cycles : 7). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.245538 ms (missed cycles : 7).[0m ×2 + 26.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 26.26sWARNstate_estimatorOptimization exceeded the configured duration by 76022478ns + 26.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.202ms + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.294ms + 27.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304156 ms (missed cycles : 4). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304156 ms (missed cycles : 4).[0m ×2 + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 27.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.186ms + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 28.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724396 ms (missed cycles : 3). + 28.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724396 ms (missed cycles : 3).[0m ×2 + 28.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 29.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms ×2 + 29.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316307 ms (missed cycles : 3). + 29.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316307 ms (missed cycles : 3).[0m ×2 + 29.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 29.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828562 ms (missed cycles : 2). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828562 ms (missed cycles : 2).[0m ×2 + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 30.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 31.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841548 ms (missed cycles : 2). + 31.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841548 ms (missed cycles : 2).[0m ×2 + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.307ms + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 31.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.723ms + 32.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527636 ms (missed cycles : 3). + 32.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527636 ms (missed cycles : 3).[0m ×2 + 32.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.786ms + 33.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.196452 ms (missed cycles : 7). + 33.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.196452 ms (missed cycles : 7).[0m ×2 + 34.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 34.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207489 ms (missed cycles : 2). + 34.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207489 ms (missed cycles : 2).[0m ×2 + 35.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559181 ms (missed cycles : 2). + 35.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559181 ms (missed cycles : 2).[0m ×2 + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.907904 ms (missed cycles : 8). + 36.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.907904 ms (missed cycles : 8).[0m ×2 + 37.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236364 ms (missed cycles : 2). + 37.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236364 ms (missed cycles : 2).[0m ×2 + 38.14sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 5 seconds. ×3 + 38.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784639793.20715332 seconds ×3 + 38.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.350ms + 38.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.990033 ms (missed cycles : 5). + 38.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.990033 ms (missed cycles : 5).[0m ×2 + 38.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.811ms + 38.52sWARNstate_estimatorOptimization exceeded the configured duration by 36084503ns + 38.70sINFOros2_control_nodeMuJoCo sim: 1.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 38.83sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784639793.89033699 seconds. ×3 + 38.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.932ms + 39.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.287ms + 39.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.959ms + 39.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 39.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.819ms + 39.60sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 3.030ms + 39.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456183 ms (missed cycles : 3). + 39.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456183 ms (missed cycles : 3).[0m ×2 + 39.81sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 2.789ms + 39.90sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 2.327ms + 40.00sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.424ms + 40.19sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.634ms + 40.38sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.077ms + 40.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958961 ms (missed cycles : 2). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958961 ms (missed cycles : 2).[0m ×2 + 40.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 41.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 30.7s | 9 errors · 112 warnings · 210 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms ×2 + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927993 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927993 ms (missed cycles : 2).[0m ×2 + 0.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 1.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066656 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066656 ms (missed cycles : 2).[0m ×2 + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.124ms + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839323 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839323 ms (missed cycles : 2).[0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.174ms + 3.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 3.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 3.43sWARNstate_estimatorOptimization exceeded the configured duration by 26748087ns + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164129 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164129 ms (missed cycles : 2).[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms + 3.94sINFOjoint_trajectory_controllerGot request to cancel goal + 3.94sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.94sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.94sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784639804.18976498 seconds ×3 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms ×3 + 4.50sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784639804.74044108 seconds. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659237 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659237 ms (missed cycles : 3).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.702ms + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 5.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms ×2 + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.157ms + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552055 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552055 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.747ms + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.226ms + 6.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 6.19sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.19sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.19sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms ×2 + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072035 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072035 ms (missed cycles : 4).[0m ×2 + 6.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 6.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 7.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms ×2 + 7.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 7.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 7.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 7.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.790ms + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.189197 ms (missed cycles : 8). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.189197 ms (missed cycles : 8).[0m ×2 + 7.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.763ms + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610517 ms (missed cycles : 3). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610517 ms (missed cycles : 3).[0m ×2 + 8.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 9.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.694ms + 9.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.695ms + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330494 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330494 ms (missed cycles : 2).[0m ×2 + 9.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 10.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 10.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 10.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.724ms + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951013 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951013 ms (missed cycles : 3).[0m ×2 + 11.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.777ms ×2 + 11.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 11.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888554 ms (missed cycles : 4). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888554 ms (missed cycles : 4).[0m ×2 + 12.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms ×2 + 12.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 12.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450928 ms (missed cycles : 2). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450928 ms (missed cycles : 2).[0m ×2 + 13.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms + 13.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 13.45sWARNstate_estimatorOptimization exceeded the configured duration by 53456199ns + 13.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.128ms + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843528 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843528 ms (missed cycles : 2).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 14.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.779ms + 14.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 14.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.260ms + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270074 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270074 ms (missed cycles : 2).[0m ×2 + 15.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 15.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 15.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 15.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300530 ms (missed cycles : 2). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300530 ms (missed cycles : 2).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 16.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.754ms + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685835 ms (missed cycles : 3). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685835 ms (missed cycles : 3).[0m ×2 + 17.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 17.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 17.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 18.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151871 ms (missed cycles : 2). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151871 ms (missed cycles : 2).[0m ×2 + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 18.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 19.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.141ms + 19.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176034 ms (missed cycles : 2). + 19.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176034 ms (missed cycles : 2).[0m ×2 + 19.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.312ms + 19.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 19.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.695ms + 20.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560611 ms (missed cycles : 2). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560611 ms (missed cycles : 2).[0m ×2 + 20.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 20.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 20.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 21.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.752ms + 21.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975339 ms (missed cycles : 2). + 21.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975339 ms (missed cycles : 2).[0m ×2 + 21.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 21.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.750ms + 22.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 22.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427789 ms (missed cycles : 3). + 22.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427789 ms (missed cycles : 3).[0m ×2 + 22.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.769ms + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.269681 ms (missed cycles : 7). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.269681 ms (missed cycles : 7).[0m ×2 + 23.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 23.52sWARNstate_estimatorOptimization exceeded the configured duration by 118091663ns + 23.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 23.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 24.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 24.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880830 ms (missed cycles : 3). + 24.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880830 ms (missed cycles : 3).[0m ×2 + 24.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 24.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 24.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.209ms + 25.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 25.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374166 ms (missed cycles : 3). + 25.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374166 ms (missed cycles : 3).[0m ×2 + 25.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 25.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms + 26.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 26.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms + 26.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970812 ms (missed cycles : 3). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970812 ms (missed cycles : 3).[0m ×2 + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 26.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 27.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153069 ms (missed cycles : 4). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153069 ms (missed cycles : 4).[0m ×2 + 27.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 27.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 27.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 28.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 28.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 28.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867511 ms (missed cycles : 7). + 28.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867511 ms (missed cycles : 7).[0m ×2 + 28.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 29.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.351ms + 29.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496906 ms (missed cycles : 3). + 29.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496906 ms (missed cycles : 3).[0m ×2 + 29.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.310ms + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 30.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 30.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.940603 ms (missed cycles : 6). + 30.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.940603 ms (missed cycles : 6).[0m ×2 + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 30.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 30.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 31.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 31.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 31.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7). + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7).[0m ×2 + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 31.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 32.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 32.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5). + 32.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5).[0m ×2 + 32.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 33.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 33.47sINFOjoint_trajectory_controllerGoal reached, success! + 33.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 33.57sWARNstate_estimatorOptimization exceeded the configured duration by 69580490ns + 33.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4). + 33.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4).[0m ×2 + 34.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 34.60sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 34.61sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 34.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784639834.85065627 seconds ×3 + 34.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2). + 34.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2).[0m ×2 + 34.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.341ms + 34.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.722ms + 35.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784639835.48416805 seconds. ×3 + 35.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.680ms + 35.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.969ms + 35.59sINFOobjective_server_nodeFound path in 0 iterations (1.04e-06 s). ×2 + 35.60sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 2.245ms + 35.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3). + 35.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3).[0m ×2 + 35.82sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.632ms + 36.01sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.867ms + 36.12sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.706ms + 36.32sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.907ms + 36.52sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.544ms + 36.70sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.629ms + 36.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3). + 36.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3).[0m ×2 + 36.91sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.376ms + 37.12sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.645ms + 37.22sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.472ms + 37.42sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.293ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.0s | 189 warnings · 248 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784639661.46426105 seconds ×3 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 0.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784639662.01588941 seconds. ×3 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034410 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034410 ms (missed cycles : 2).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.693ms + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3.0621e-05 s). ×2 + 1.49sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.50sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.50sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.51sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.51sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.955281 ms (missed cycles : 6). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.955281 ms (missed cycles : 6).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168347 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168347 ms (missed cycles : 2).[0m ×2 + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 3.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784639665.06607747 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290392 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290392 ms (missed cycles : 2).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 4.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784639665.62741590 seconds. ×3 + 4.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907060 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907060 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919871 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919871 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.630ms + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.706630 ms (missed cycles : 6). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.706630 ms (missed cycles : 6).[0m ×2 + 7.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.680ms + 7.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272505 ms (missed cycles : 4). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272505 ms (missed cycles : 4).[0m ×2 + 8.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms ×2 + 8.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.653ms + 8.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946498 ms (missed cycles : 3). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946498 ms (missed cycles : 3).[0m ×2 + 9.05sWARNstate_estimatorOptimization exceeded the configured duration by 65958524ns + 9.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 9.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.699ms + 9.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 9.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.660ms + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562244 ms (missed cycles : 3). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562244 ms (missed cycles : 3).[0m ×2 + 10.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 10.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms ×2 + 10.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157370 ms (missed cycles : 3). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157370 ms (missed cycles : 3).[0m ×2 + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 11.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 11.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.669ms + 11.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.188209 ms (missed cycles : 8). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.188209 ms (missed cycles : 8).[0m ×2 + 12.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.695ms + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.729ms + 12.30sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.087ms ×2 + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.682ms + 12.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752530 ms (missed cycles : 5). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752530 ms (missed cycles : 5).[0m ×2 + 13.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.692ms + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms ×2 + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260931 ms (missed cycles : 4). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260931 ms (missed cycles : 4).[0m ×2 + 14.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 14.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.174ms + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.520854 ms (missed cycles : 6). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.520854 ms (missed cycles : 6).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.743ms + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 15.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387900 ms (missed cycles : 4). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387900 ms (missed cycles : 4).[0m ×2 + 16.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 16.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.751ms + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms ×2 + 17.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.706ms + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186810 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186810 ms (missed cycles : 2).[0m ×2 + 17.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.761ms + 17.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.720ms + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425380 ms (missed cycles : 3). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425380 ms (missed cycles : 3).[0m ×2 + 18.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 18.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms ×2 + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 19.15sWARNstate_estimatorOptimization exceeded the configured duration by 63730245ns + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951038 ms (missed cycles : 3). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951038 ms (missed cycles : 3).[0m ×2 + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.685ms + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms ×2 + 19.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.107ms + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807881 ms (missed cycles : 3). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807881 ms (missed cycles : 3).[0m ×2 + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762871 ms (missed cycles : 2). + 21.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762871 ms (missed cycles : 2).[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms ×2 + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.741ms + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms ×2 + 22.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769866 ms (missed cycles : 5). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769866 ms (missed cycles : 5).[0m ×2 + 22.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 22.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.788ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 23.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.748ms + 23.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.763ms + 23.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478411 ms (missed cycles : 3). + 23.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478411 ms (missed cycles : 3).[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 23.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.787ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 24.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386553 ms (missed cycles : 2). + 24.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386553 ms (missed cycles : 2).[0m ×2 + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.749ms + 24.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.204ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.727ms + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 25.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874889 ms (missed cycles : 2). + 25.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874889 ms (missed cycles : 2).[0m ×2 + 25.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms ×2 + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 26.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487396 ms (missed cycles : 2). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487396 ms (missed cycles : 2).[0m ×2 + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.759ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261953 ms (missed cycles : 4). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261953 ms (missed cycles : 4).[0m ×2 + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 28.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 28.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711635 ms (missed cycles : 3). + 28.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711635 ms (missed cycles : 3).[0m ×2 + 28.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 29.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 29.20sWARNstate_estimatorOptimization exceeded the configured duration by 116121010ns + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.231ms + 29.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240412 ms (missed cycles : 4). + 29.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240412 ms (missed cycles : 4).[0m ×2 + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms ×2 + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 30.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 30.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042302 ms (missed cycles : 4). + 30.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042302 ms (missed cycles : 4).[0m ×2 + 31.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 31.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 31.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953512 ms (missed cycles : 2). + 31.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953512 ms (missed cycles : 2).[0m ×2 + 31.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 32.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.156ms + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.320ms + 32.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962022 ms (missed cycles : 2). + 32.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962022 ms (missed cycles : 2).[0m ×2 + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.768ms ×2 + 33.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.771ms + 33.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026172 ms (missed cycles : 5). + 33.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026172 ms (missed cycles : 5).[0m ×2 + 34.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 34.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759128 ms (missed cycles : 2). + 34.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759128 ms (missed cycles : 2).[0m ×2 + 34.95sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000701 ms (missed cycles : 4). + 35.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000701 ms (missed cycles : 4).[0m ×2 + 36.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499939 ms (missed cycles : 2). + 36.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499939 ms (missed cycles : 2).[0m ×2 + 37.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311112 ms (missed cycles : 4). + 37.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311112 ms (missed cycles : 4).[0m ×2 + 38.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 38.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.529985 ms (missed cycles : 6). + 38.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.529985 ms (missed cycles : 6).[0m ×2 + 39.30sWARNstate_estimatorOptimization exceeded the configured duration by 19064036ns + 39.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms ×2 + 39.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154839 ms (missed cycles : 2). + 39.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154839 ms (missed cycles : 2).[0m ×2 + 40.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424587 ms (missed cycles : 3). + 40.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424587 ms (missed cycles : 3).[0m ×2 + 41.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 41.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 41.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794158 ms (missed cycles : 3). + 41.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794158 ms (missed cycles : 3).[0m ×2 + 42.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.165ms + 42.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015366 ms (missed cycles : 2). + 42.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015366 ms (missed cycles : 2).[0m ×2 + 44.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615068 ms (missed cycles : 3). + 44.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615068 ms (missed cycles : 3).[0m ×2 + 44.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 45.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.032673 ms (missed cycles : 5). + 45.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.032673 ms (missed cycles : 5).[0m ×2 + 45.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 46.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712622 ms (missed cycles : 2). + 46.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712622 ms (missed cycles : 2).[0m ×2 + 47.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129053 ms (missed cycles : 2). + 47.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129053 ms (missed cycles : 2).[0m ×2 + 48.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.568350 ms (missed cycles : 6). + 48.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.568350 ms (missed cycles : 6).[0m ×2 + 48.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.093ms + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807948 ms (missed cycles : 2). + 49.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807948 ms (missed cycles : 2).[0m ×2 + 49.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 49.33sWARNstate_estimatorOptimization exceeded the configured duration by 42624502ns + 50.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785631 ms (missed cycles : 2). + 50.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785631 ms (missed cycles : 2).[0m ×2 + 51.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109527 ms (missed cycles : 2). + 51.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109527 ms (missed cycles : 2).[0m ×2 + 51.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 51.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 52.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037893 ms (missed cycles : 2). + 52.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037893 ms (missed cycles : 2).[0m ×2 + 52.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 53.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462032 ms (missed cycles : 3). + 53.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462032 ms (missed cycles : 3).[0m ×2 + 54.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895654 ms (missed cycles : 3). + 54.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895654 ms (missed cycles : 3).[0m ×2 + 54.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 55.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696900 ms (missed cycles : 6). + 55.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696900 ms (missed cycles : 6).[0m ×2 + 55.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 56.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241007 ms (missed cycles : 4). + 56.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241007 ms (missed cycles : 4).[0m ×2 + 57.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 57.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484736 ms (missed cycles : 3). + 57.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484736 ms (missed cycles : 3).[0m ×2 + 58.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162593 ms (missed cycles : 4). + 58.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162593 ms (missed cycles : 4).[0m ×2 + 59.34sWARNstate_estimatorOptimization exceeded the configured duration by 54568351ns + 59.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 59.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861869 ms (missed cycles : 3). + 59.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861869 ms (missed cycles : 3).[0m ×2 + 59.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 60.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784639722.02755237 seconds ×3 + 60.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490100 ms (missed cycles : 3). + 60.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490100 ms (missed cycles : 3).[0m ×2 + 60.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.714ms + 60.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.756ms + 61.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784639722.59430051 seconds. ×3 + 61.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.766ms + 61.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.580ms + 61.49sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.941ms + 61.52sINFOobjective_server_nodeFound path in 0 iterations (1e-06 s). ×2 + 61.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.60sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.261ms + 61.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100309 ms (missed cycles : 7). + 61.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100309 ms (missed cycles : 7).[0m ×2 + 61.79sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.268ms + 62.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 62.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963903 ms (missed cycles : 5). + 62.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963903 ms (missed cycles : 5).[0m ×2 + 62.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 63.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.5s | 6 errors · 186 warnings · 237 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms ×3 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms ×3 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.76sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.86sWARNstate_estimatorOptimization exceeded the configured duration by 69580490ns + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4).[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 3.89sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.90sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784639834.85065627 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2).[0m ×2 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.341ms + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.722ms + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784639835.48416805 seconds. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.680ms + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.969ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (1.04e-06 s). ×2 + 4.89sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 2.245ms + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.632ms + 5.30sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.867ms + 5.41sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.706ms + 5.61sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.907ms + 5.81sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.544ms + 5.99sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.629ms + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.376ms + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.41sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.645ms + 6.44sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.44sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.44sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.51sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.472ms + 6.71sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.293ms + 7.01sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.398ms + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575804 ms (missed cycles : 3). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575804 ms (missed cycles : 3).[0m ×2 + 7.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.174ms + 7.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 7.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 7.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.235ms + 8.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.948ms + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744207 ms (missed cycles : 3). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744207 ms (missed cycles : 3).[0m ×2 + 8.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 8.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.463777 ms (missed cycles : 7). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.463777 ms (missed cycles : 7).[0m ×2 + 9.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 9.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.362ms + 9.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms + 10.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255090 ms (missed cycles : 5). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255090 ms (missed cycles : 5).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 10.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 10.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 11.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.262ms + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.123905 ms (missed cycles : 6). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.123905 ms (missed cycles : 6).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 11.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 12.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 12.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.820303 ms (missed cycles : 7). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.820303 ms (missed cycles : 7).[0m ×2 + 12.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 12.88sWARNstate_estimatorOptimization exceeded the configured duration by 91423326ns + 13.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 13.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401044 ms (missed cycles : 3). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401044 ms (missed cycles : 3).[0m ×2 + 13.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 13.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.274ms + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746592 ms (missed cycles : 3). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746592 ms (missed cycles : 3).[0m ×2 + 14.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 14.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.037ms + 15.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098848 ms (missed cycles : 6). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098848 ms (missed cycles : 6).[0m ×2 + 15.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms ×2 + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.265ms + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764870 ms (missed cycles : 2). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764870 ms (missed cycles : 2).[0m ×2 + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282288 ms (missed cycles : 3). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282288 ms (missed cycles : 3).[0m ×2 + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms ×2 + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 18.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.314ms + 18.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 18.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896817 ms (missed cycles : 2). + 18.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896817 ms (missed cycles : 2).[0m ×2 + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 19.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.231ms + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946890 ms (missed cycles : 5). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946890 ms (missed cycles : 5).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms ×2 + 20.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 20.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154818 ms (missed cycles : 3). + 20.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154818 ms (missed cycles : 3).[0m ×2 + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.291ms ×2 + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.147ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 21.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053132 ms (missed cycles : 5). + 21.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053132 ms (missed cycles : 5).[0m ×2 + 22.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.885ms + 22.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.351ms + 22.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 22.82sINFOros2_control_nodeMuJoCo sim: 1.14% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 22.89sWARNstate_estimatorOptimization exceeded the configured duration by 99030502ns + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 22.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064376 ms (missed cycles : 2). + 22.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064376 ms (missed cycles : 2).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 23.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.252ms + 23.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572071 ms (missed cycles : 3). + 23.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572071 ms (missed cycles : 3).[0m ×2 + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.149ms + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.826ms + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 24.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802979 ms (missed cycles : 3). + 24.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802979 ms (missed cycles : 3).[0m ×2 + 25.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.020ms + 25.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 25.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046344 ms (missed cycles : 2). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046344 ms (missed cycles : 2).[0m ×2 + 26.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.204ms + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms ×2 + 27.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845451 ms (missed cycles : 5). + 27.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845451 ms (missed cycles : 5).[0m ×2 + 27.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 27.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 28.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445016 ms (missed cycles : 3). + 28.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445016 ms (missed cycles : 3).[0m ×2 + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.263ms + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms + 28.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.186ms + 29.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935361 ms (missed cycles : 2). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935361 ms (missed cycles : 2).[0m ×2 + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.096ms + 29.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 30.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.585336 ms (missed cycles : 7). + 30.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.585336 ms (missed cycles : 7).[0m ×2 + 30.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 31.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702246 ms (missed cycles : 3). + 31.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702246 ms (missed cycles : 3).[0m ×2 + 31.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.294ms + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 32.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.068ms + 32.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295736 ms (missed cycles : 4). + 32.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295736 ms (missed cycles : 4).[0m ×2 + 32.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 32.99sWARNstate_estimatorOptimization exceeded the configured duration by 103659065ns + 33.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms ×2 + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398993 ms (missed cycles : 2). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398993 ms (missed cycles : 2).[0m ×2 + 33.81sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970891 ms (missed cycles : 5). + 34.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970891 ms (missed cycles : 5).[0m ×2 + 35.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676219 ms (missed cycles : 2). + 35.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676219 ms (missed cycles : 2).[0m ×2 + 35.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 36.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888193 ms (missed cycles : 5). + 36.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888193 ms (missed cycles : 5).[0m ×2 + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.901579 ms (missed cycles : 6). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.901579 ms (missed cycles : 6).[0m ×2 + 37.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 38.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284718 ms (missed cycles : 2). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284718 ms (missed cycles : 2).[0m ×2 + 38.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 39.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851407 ms (missed cycles : 2). + 39.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851407 ms (missed cycles : 2).[0m ×2 + 40.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 40.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343087 ms (missed cycles : 3). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343087 ms (missed cycles : 3).[0m ×2 + 40.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 41.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945891 ms (missed cycles : 2). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945891 ms (missed cycles : 2).[0m ×2 + 41.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 42.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081425 ms (missed cycles : 3). + 42.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081425 ms (missed cycles : 3).[0m ×2 + 43.07sWARNstate_estimatorOptimization exceeded the configured duration by 74907986ns + 43.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817509 ms (missed cycles : 3). + 43.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817509 ms (missed cycles : 3).[0m ×2 + 44.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496635 ms (missed cycles : 2). + 44.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496635 ms (missed cycles : 2).[0m ×2 + 45.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.133ms + 45.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674881 ms (missed cycles : 2). + 45.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674881 ms (missed cycles : 2).[0m ×2 + 46.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 46.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924246 ms (missed cycles : 2). + 46.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924246 ms (missed cycles : 2).[0m ×2 + 47.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 47.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589488 ms (missed cycles : 3). + 47.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589488 ms (missed cycles : 3).[0m ×2 + 47.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 48.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980982 ms (missed cycles : 3). + 48.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980982 ms (missed cycles : 3).[0m ×2 + 49.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324628 ms (missed cycles : 2). + 49.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324628 ms (missed cycles : 2).[0m ×2 + 50.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 50.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 50.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.467246 ms (missed cycles : 4). + 50.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.467246 ms (missed cycles : 4).[0m ×2 + 51.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 52.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228940 ms (missed cycles : 3). + 52.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228940 ms (missed cycles : 3).[0m ×2 + 53.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385558 ms (missed cycles : 4). + 53.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385558 ms (missed cycles : 4).[0m ×2 + 53.16sWARNstate_estimatorOptimization exceeded the configured duration by 68613923ns + 53.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 54.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493924 ms (missed cycles : 4). + 54.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493924 ms (missed cycles : 4).[0m ×2 + 54.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 54.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 55.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330079 ms (missed cycles : 4). + 55.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330079 ms (missed cycles : 4).[0m ×2 + 56.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530661 ms (missed cycles : 3). + 56.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530661 ms (missed cycles : 3).[0m ×2 + 56.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 57.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556144 ms (missed cycles : 3). + 57.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556144 ms (missed cycles : 3).[0m ×2 + 58.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851558 ms (missed cycles : 2). + 58.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851558 ms (missed cycles : 2).[0m ×2 + 58.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 58.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 59.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689028 ms (missed cycles : 3). + 59.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689028 ms (missed cycles : 3).[0m ×2 + 59.51sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784639890.46432948 seconds ×3 + 59.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms + 59.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.734ms + 60.09sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784639891.03856611 seconds. ×3 + 60.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.752ms + 60.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194103 ms (missed cycles : 4). + 60.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194103 ms (missed cycles : 4).[0m ×2 + 60.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 60.41sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 60.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 60.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.751ms + 60.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 60.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.687ms + 61.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227997 ms (missed cycles : 2). + 61.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227997 ms (missed cycles : 2).[0m ×2 + 61.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 61.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 62.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.623ms + 62.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006908 ms (missed cycles : 8). + 62.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006908 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.7s | 152 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.39sINFOobjective_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 + 3.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 5.52sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.52sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.53sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.94sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670649 ms (missed cycles : 6). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670649 ms (missed cycles : 6).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124235 ms (missed cycles : 5). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124235 ms (missed cycles : 5).[0m ×2 + 7.57sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.042ms + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411160 ms (missed cycles : 3). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411160 ms (missed cycles : 3).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952297 ms (missed cycles : 6). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952297 ms (missed cycles : 6).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795807 ms (missed cycles : 5). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795807 ms (missed cycles : 5).[0m ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977268 ms (missed cycles : 2). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977268 ms (missed cycles : 2).[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786036 ms (missed cycles : 4). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786036 ms (missed cycles : 4).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020400 ms (missed cycles : 4). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020400 ms (missed cycles : 4).[0m ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434928 ms (missed cycles : 3). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434928 ms (missed cycles : 3).[0m ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196320 ms (missed cycles : 4). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196320 ms (missed cycles : 4).[0m ×2 + 15.97sWARNstate_estimatorOptimization exceeded the configured duration by 107885581ns + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316675 ms (missed cycles : 4). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316675 ms (missed cycles : 4).[0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226688 ms (missed cycles : 3). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226688 ms (missed cycles : 3).[0m ×2 + 18.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 18.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253942 ms (missed cycles : 2). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253942 ms (missed cycles : 2).[0m ×2 + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824026 ms (missed cycles : 3). + 19.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824026 ms (missed cycles : 3).[0m ×2 + 20.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592565 ms (missed cycles : 3). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592565 ms (missed cycles : 3).[0m ×2 + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962408 ms (missed cycles : 5). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962408 ms (missed cycles : 5).[0m ×2 + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138545 ms (missed cycles : 4). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138545 ms (missed cycles : 4).[0m ×2 + 23.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702508 ms (missed cycles : 2). + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702508 ms (missed cycles : 2).[0m ×2 + 24.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421480 ms (missed cycles : 3). + 24.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421480 ms (missed cycles : 3).[0m ×2 + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526435 ms (missed cycles : 3). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526435 ms (missed cycles : 3).[0m ×2 + 26.17sWARNstate_estimatorOptimization exceeded the configured duration by 6350484ns + 26.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869361 ms (missed cycles : 2). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869361 ms (missed cycles : 2).[0m ×2 + 27.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372645 ms (missed cycles : 3). + 27.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372645 ms (missed cycles : 3).[0m ×2 + 29.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313116 ms (missed cycles : 3). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313116 ms (missed cycles : 3).[0m ×2 + 30.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.043952 ms (missed cycles : 5). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.043952 ms (missed cycles : 5).[0m ×2 + 30.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.047ms + 31.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862283 ms (missed cycles : 2). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862283 ms (missed cycles : 2).[0m ×2 + 32.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.421019 ms (missed cycles : 6). + 32.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.421019 ms (missed cycles : 6).[0m ×2 + 33.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660069 ms (missed cycles : 3). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660069 ms (missed cycles : 3).[0m ×2 + 34.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434757 ms (missed cycles : 4). + 34.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434757 ms (missed cycles : 4).[0m ×2 + 35.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439915 ms (missed cycles : 3). + 35.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439915 ms (missed cycles : 3).[0m ×2 + 36.17sWARNstate_estimatorOptimization exceeded the configured duration by 15626042ns + 36.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.604735 ms (missed cycles : 7). + 36.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.604735 ms (missed cycles : 7).[0m ×2 + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.935492 ms (missed cycles : 5). + 37.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.935492 ms (missed cycles : 5).[0m ×2 + 38.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 38.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215388 ms (missed cycles : 4). + 38.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215388 ms (missed cycles : 4).[0m ×2 + 39.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472091 ms (missed cycles : 3). + 39.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472091 ms (missed cycles : 3).[0m ×2 + 40.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2). + 40.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951607 ms (missed cycles : 2).[0m ×2 + 41.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624113 ms (missed cycles : 2). + 41.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624113 ms (missed cycles : 2).[0m ×2 + 42.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782365 ms (missed cycles : 2). + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782365 ms (missed cycles : 2).[0m ×2 + 43.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375433 ms (missed cycles : 4). + 43.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375433 ms (missed cycles : 4).[0m ×2 + 44.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.300872 ms (missed cycles : 7). + 44.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.300872 ms (missed cycles : 7).[0m ×2 + 45.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.412306 ms (missed cycles : 7). + 45.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.412306 ms (missed cycles : 7).[0m ×2 + 46.19sWARNstate_estimatorOptimization exceeded the configured duration by 34253596ns + 46.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709957 ms (missed cycles : 3). + 46.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709957 ms (missed cycles : 3).[0m ×2 + 47.18sINFOjoint_trajectory_controllerGoal reached, success! + 47.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784639661.46426105 seconds ×3 + 47.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 47.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784639662.01588941 seconds. ×3 + 47.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034410 ms (missed cycles : 2). + 47.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034410 ms (missed cycles : 2).[0m ×2 + 47.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.693ms + 48.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 48.66sINFOobjective_server_nodeFound path in 0 iterations (3.0621e-05 s). ×2 + 48.66sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.955281 ms (missed cycles : 6). + 48.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.955281 ms (missed cycles : 6).[0m ×2 + 49.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168347 ms (missed cycles : 2). + 49.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168347 ms (missed cycles : 2).[0m ×2 + 50.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.0s | 115 warnings · 188 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963903 ms (missed cycles : 5). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963903 ms (missed cycles : 5).[0m ×2 + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191703 ms (missed cycles : 4). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191703 ms (missed cycles : 4).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613428 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613428 ms (missed cycles : 3).[0m ×2 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.79sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.80sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784639726.67446923 seconds ×3 + 2.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560057 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560057 ms (missed cycles : 3).[0m ×2 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.37sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784639728.24203992 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 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323601 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323601 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.730764 ms (missed cycles : 7). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.730764 ms (missed cycles : 7).[0m ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.43sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.43sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512275 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512275 ms (missed cycles : 3).[0m ×2 + 6.99sWARNstate_estimatorOptimization exceeded the configured duration by 124871935ns + 7.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535970 ms (missed cycles : 4). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535970 ms (missed cycles : 4).[0m ×2 + 8.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 8.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942140 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942140 ms (missed cycles : 2).[0m ×2 + 8.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 9.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 9.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 9.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.121ms ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.154766 ms (missed cycles : 5). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.154766 ms (missed cycles : 5).[0m ×2 + 9.89sINFOros2_control_nodeMuJoCo sim: 1.03% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 10.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 10.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.216ms ×2 + 10.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186830 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186830 ms (missed cycles : 2).[0m ×2 + 10.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 10.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 11.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 11.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.266ms + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935138 ms (missed cycles : 3). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935138 ms (missed cycles : 3).[0m ×2 + 11.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 12.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828483 ms (missed cycles : 3). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828483 ms (missed cycles : 3).[0m ×2 + 12.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 13.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 13.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511621 ms (missed cycles : 3). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511621 ms (missed cycles : 3).[0m ×2 + 13.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 14.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.855204 ms (missed cycles : 5). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.855204 ms (missed cycles : 5).[0m ×2 + 14.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.128ms + 15.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 15.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551557 ms (missed cycles : 3). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551557 ms (missed cycles : 3).[0m ×2 + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 16.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128572 ms (missed cycles : 4). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128572 ms (missed cycles : 4).[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.233ms + 17.00sWARNstate_estimatorOptimization exceeded the configured duration by 30944093ns + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.047ms + 17.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.770ms + 17.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303879 ms (missed cycles : 2). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303879 ms (missed cycles : 2).[0m ×2 + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 18.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.737ms + 18.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 18.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952272 ms (missed cycles : 3). + 18.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952272 ms (missed cycles : 3).[0m ×2 + 18.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.714ms + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.718ms + 19.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.685ms + 19.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.694ms ×2 + 19.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738311 ms (missed cycles : 2). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738311 ms (missed cycles : 2).[0m ×2 + 20.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 20.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.662ms + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861297 ms (missed cycles : 5). + 21.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861297 ms (missed cycles : 5).[0m ×2 + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.696ms + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.707ms + 21.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.174ms + 22.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123190 ms (missed cycles : 3). + 22.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123190 ms (missed cycles : 3).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 22.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms ×2 + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.778ms ×2 + 23.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.911065 ms (missed cycles : 5). + 23.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.911065 ms (missed cycles : 5).[0m ×2 + 23.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.728ms + 23.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 24.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710269 ms (missed cycles : 2). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710269 ms (missed cycles : 2).[0m ×2 + 24.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.279ms + 24.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.763ms + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800624 ms (missed cycles : 3). + 25.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800624 ms (missed cycles : 3).[0m ×2 + 25.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 25.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 25.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 26.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484766 ms (missed cycles : 5). + 26.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484766 ms (missed cycles : 5).[0m ×2 + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.772ms + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 26.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 27.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 27.18sWARNstate_estimatorOptimization exceeded the configured duration by 12254518ns + 27.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061312 ms (missed cycles : 4). + 27.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061312 ms (missed cycles : 4).[0m ×2 + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 27.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.724ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms ×2 + 28.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369510 ms (missed cycles : 3). + 28.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369510 ms (missed cycles : 3).[0m ×2 + 28.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.788ms + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 29.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 29.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761523 ms (missed cycles : 2). + 29.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761523 ms (missed cycles : 2).[0m ×2 + 29.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.076ms + 29.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.769ms + 29.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 30.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197813 ms (missed cycles : 4). + 30.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 30.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197813 ms (missed cycles : 4).[0m ×2 + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 31.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 31.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321117 ms (missed cycles : 2). + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321117 ms (missed cycles : 2).[0m ×2 + 31.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.742ms + 31.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 32.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms ×2 + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241318 ms (missed cycles : 2). + 32.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241318 ms (missed cycles : 2).[0m ×2 + 32.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 32.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 33.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 33.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311471 ms (missed cycles : 4). + 33.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311471 ms (missed cycles : 4).[0m ×2 + 33.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 34.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176068 ms (missed cycles : 4). + 34.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176068 ms (missed cycles : 4).[0m ×2 + 34.84sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784639758.71219420 seconds ×3 + 34.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.055ms + 35.07sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.058ms + 35.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.248ms + 35.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784639759.27691388 seconds. ×3 + 35.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.471730 ms (missed cycles : 7). + 35.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.471730 ms (missed cycles : 7).[0m ×2 + 35.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.231ms + 35.75sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 35.80sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 2.673ms + 36.00sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.971ms + 36.08sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.581ms + 36.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 36.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 36.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374655 ms (missed cycles : 2). + 36.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374655 ms (missed cycles : 2).[0m ×2 + 36.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 36.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms + 36.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 36.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 37.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 37.23sWARNstate_estimatorOptimization exceeded the configured duration by 58082263ns + 37.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 37.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083028 ms (missed cycles : 4). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083028 ms (missed cycles : 4).[0m ×2 + 37.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 37.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 13.8s | 99 errors · 38 warnings · 451 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.671ms + 0.61sINFOjoint_trajectory_controllerGoal reached, success! + 0.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.64sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784639903.49133539 seconds ×3 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.732ms + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260423 ms (missed cycles : 3). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260423 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784639904.09773850 seconds. ×3 + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.25sINFOmove_groupClearing octomap...[0m ×2 + 1.25sINFOmove_groupOctomap cleared.[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.720ms ×2 + 1.44sWARNstate_estimatorOptimization exceeded the configured duration by 53608449ns + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.672ms + 1.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704678 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704678 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.726ms + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720874 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720874 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.229519 ms (missed cycles : 6). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.229519 ms (missed cycles : 6).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784639906.83797097 seconds ×3 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 4.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 4.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.372ms + 4.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784639907.38828373 seconds. ×3 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.017881 ms (missed cycles : 5). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.017881 ms (missed cycles : 5).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.119ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 5.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.754ms + 5.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 5.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784639908.36533332 seconds ×3 + 5.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 5.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231867 ms (missed cycles : 2). + 6.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 6.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.658ms + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231867 ms (missed cycles : 2).[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008464 ms (missed cycles : 5). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008464 ms (missed cycles : 5).[0m ×2 + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.436407 ms (missed cycles : 7). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.436407 ms (missed cycles : 7).[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986207 ms (missed cycles : 2). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986207 ms (missed cycles : 2).[0m ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978922 ms (missed cycles : 5). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978922 ms (missed cycles : 5).[0m ×2 + 10.92sINFOros2_control_nodeMuJoCo sim: 1.17% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419449 ms (missed cycles : 4). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419449 ms (missed cycles : 4).[0m ×2 + 11.46sWARNstate_estimatorOptimization exceeded the configured duration by 67591363ns + 11.64sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.64sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.65sERRORweb_video_server-33process[web_video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.65sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.68sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.68sERRORweb_video_auth_proxy-35process has died [pid 13288, 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 + 11.68sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.69sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.69sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.71sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.71sERRORweb_bridge_auth_proxy-34process has died [pid 13287, 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 + 11.72sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.72sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.73sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.73sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.74sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.74sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.76sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.76sERRORfixed_lag_smoother_node-8process[fixed_lag_smoother_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.78sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.78sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.79sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.79sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.79sINFOweb_video_server-33sending signal 'SIGTERM' to process[web_video_server-33] ×2 + 11.82sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.85sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.87sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.89sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.91sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.92sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.95sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.97sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 12.00sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 12.02sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 12.05sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 12.08sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 12.10sINFOweb_video_server-33process has finished cleanly [pid 13286] ×2 + 12.11sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 12.12sINFOtf2_web_republisher_node-32process has finished cleanly [pid 13285] ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752607 ms (missed cycles : 2). + 12.14sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 12.15sINFOcontroller_managerShutdown request received.... + 12.15sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.15sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.15sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.15sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.15sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.15sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.15sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.15sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.15sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.15sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.15sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.15sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.15sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.15sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.15sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.15sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.15sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.15sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.15sINFOcontroller_managerShutting down the controller manager. + 12.17sINFOfixed_lag_smoother_node-8sending signal 'SIGTERM' to process[fixed_lag_smoother_node-8] ×2 + 12.18sERRORui_teleop_bridge-30process has died [pid 13283, 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_l3viz5_b']. ×2 + 12.20sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 12.20sERRORmove_group-21process has died [pid 13250, 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_f3j4you9 --params-file /tmp/launch_params_xb2q8wsq --params-file /tmp/launch_params_7p__x2jj --params-file /tmp/launch_params_zl3sf1ya --params-file /tmp/launch_params_iqqip27d --params-file /tmp/launch_params_mz69l2wj']. ×2 + 12.22sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 12.25sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.25sINFOcomponent_container_mt-28process has finished cleanly [pid 13280] ×2 + 12.28sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] ×2 + 12.28sINFOexecute_objective_bridge-29process has finished cleanly [pid 13282] ×2 + 12.30sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] ×2 + 12.32sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 12.35sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.35sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.35sINFOcontroller_serverCleaning up + 12.35sINFOlocal_costmap.local_costmapCleaning up + 12.35sERRORobjective_server_node_main-26process has died [pid 13276, 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_chyqqwhu --params-file /tmp/launch_params_b0fhaas5 --params-file /tmp/launch_params_in4om3f5 --params-file /tmp/launch_params_udxy2rto --params-file /tmp/launch_params_aqgllom6 --params-file /tmp/launch_params_zzd87tax --params-file /tmp/launch_params_348zwfrq --params-file /tmp/launch_params_ukprdced --params-file /tmp/launch_params_xbt5ns7h']. ×2 + 12.35sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.35sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.35sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.35sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 12.35sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 12.35sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 12.35sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.35sINFOui_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 + 12.35sINFOui_teleop_bridgerclpy.shutdown() ×2 + 12.35sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 12.35sINFOui_teleop_bridge_shutdown(context=context) ×2 + 12.35sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 12.35sINFOui_teleop_bridgecontext.shutdown() ×2 + 12.35sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 12.35sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 12.35sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 12.35sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.36sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.36sINFOobjective_server_node[0;m[0m[INFO] [2026-07-21 13:18:34.825] signal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.36sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.36sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.36sERRORmove_groupStack trace (most recent call last) in thread 13898: ×2 + 12.36sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.36sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2079971a63, in __clone ×2 + 12.36sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f20798e4aa3, in ×2 + 12.37sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2079b76db3, in ×2 + 12.37sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f207a2b9b17, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.37sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2079ee94d0, in rclcpp::Rate::sleep() ×2 + 12.37sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2079e3ca88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.37sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2079e01a71, in ×2 + 12.37sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2079b45390, in __cxa_throw ×2 + 12.37sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2079b2fa54, in std::terminate() ×2 + 12.37sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2079b450d9, in ×2 + 12.37sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2079b2fff4, in ×2 + 12.37sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f20798708fe, in abort ×2 + 12.37sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f207988d27d, in raise ×2 + 12.37sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f20798e6b2c, in pthread_kill ×2 + 12.37sERRORmove_groupAborted (Signal sent by tkill() 13250 0) ×2 + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752607 ms (missed cycles : 2).[0m ×2 + 12.37sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.37sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.37sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.37sINFOobjective_server_node[2026-07-21 13:18:35.003] [moveit_pro_license] [info] ×2 + 12.37sINFOobjective_server_node************************************************* ×4 + 12.37sINFOobjective_server_node* MoveIt Pro License ×2 + 12.37sINFOobjective_server_node* Application has successfully terminated ×2 + 12.37sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.37sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.37sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.37sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.37sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.37sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.37sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 12.37sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.37sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d26c2af6a4, in _start ×2 + 12.37sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd4904f328a, in __libc_start_main ×2 + 12.37sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd4904f31d0, in ×2 + 12.37sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd490510bbd, in exit ×2 + 12.37sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd490510a75, in ×2 + 12.37sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fd4909df8f5, in spdlog::details::registry::~registry() ×2 + 12.38sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d26c2afd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 12.38sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d26c2b6315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 12.38sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d26c2b55a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 12.38sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d26c2b1b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 12.38sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d26c2afd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 12.38sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd491095454, in rclcpp::Node::~Node() ×2 + 12.38sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd491050515, in ×2 + 12.38sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd491093d20, in ×2 + 12.38sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd491093c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 12.38sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd4910505d9, in ×2 + 12.38sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd491055161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 12.38sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fd43be57160]) ×2 + 12.38sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.38sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.38sINFOodom_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 + 12.38sINFOodom_qos_relay.pymain() ×2 + 12.38sINFOodom_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 + 12.38sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.38sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.38sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.38sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.38sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.38sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.38sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.38sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.38sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.38sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.38sERRORodom_world_drift.pyTraceback (most recent call last): ×2 + 12.38sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 135, in <module> ×2 + 12.38sINFOodom_world_drift.pymain() ×2 + 12.38sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 126, in main ×2 + 12.38sINFOodom_world_drift.pyrclpy.spin(node) ×2 + 12.38sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.38sINFOodom_world_drift.pyexecutor.spin_once() ×2 + 12.38sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.38sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) ×2 + 12.38sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.38sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.38sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.38sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.38sINFOodom_world_drift.pyreturn next(self._cb_iter) ×2 + 12.38sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.39sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.39sINFOodom_world_drift.pyraise ExternalShutdownException() ×2 + 12.39sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException ×2 + 12.39sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.39sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.39sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.39sINFOros2_control_nodepublish_async_failures_ 2[0m ×4 + 12.39sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 12.39sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.39sINFOsmoother_serverCleaning up + 12.40sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 12.40sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.40sINFOmap_serverDeactivating + 12.40sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.41sINFOmap_serverCleaning up + 12.41sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.41sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 12.41sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.41sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 12.41sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.41sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.43sERRORamclThe bond connection to the lifecycle manager has been broken + 12.44sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.44sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 12.44sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.44sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 12.44sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.44sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 12.44sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.78sERRORcomponent_container_isolated-1process has died [pid 13145, 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_khm1_4en --params-file /tmp/launch_params_9_z9ae3e -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.06sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 13275] ×2 + 13.09sINFOmove_joint_resampler_node-24process has finished cleanly [pid 13274] ×2 + 13.15sINFOparameter_manager_node-22process has finished cleanly [pid 13251] ×2 + 13.16sINFOwaypoint_manager_node-23process has finished cleanly [pid 13252] ×2 + 13.25sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 13151] ×2 + 13.27sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 13150] ×2 + 13.28sINFOfixed_lag_smoother_node-8process has finished cleanly [pid 13152] ×2 + 13.32sINFOslip_aware_odom-4process has finished cleanly [pid 13148] ×2 + 13.36sERRORodom_qos_relay.py-5process has died [pid 13149, 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 + 13.36sINFOstatic_transform_publisher-2process has finished cleanly [pid 13146] ×2 + 14.39sERRORodom_world_drift.py-3process has died [pid 13147, 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 --params-file /tmp/launch_params_ps4t_7po']. ×2 + 14.58sINFOweb_bridge-31process has finished cleanly [pid 13284] ×2 + 14.58sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.97sINFOros2_control_node-9process has finished cleanly [pid 13153] ×2 + 16.64sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 16.65sINFOcomponent_container_mt-27sending signal 'SIGKILL' to process[component_container_mt-27] ×2 + 16.68sERRORcomponent_container_mt-27process has died [pid 13279, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_mt --ros-args --log-level info --ros-args -r __node:=moveit_studio_container -r __ns:=/']. ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.0s | 59 warnings · 143 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530661 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530661 ms (missed cycles : 3).[0m ×2 + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556144 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556144 ms (missed cycles : 3).[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851558 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851558 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689028 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689028 ms (missed cycles : 3).[0m ×2 + 3.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 3.76sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.76sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784639890.46432948 seconds ×3 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.734ms + 4.38sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784639891.03856611 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 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.752ms + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194103 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194103 ms (missed cycles : 4).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.73sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.73sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.74sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.74sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 4.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.751ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 5.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.687ms + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227997 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227997 ms (missed cycles : 2).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 6.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms ×2 + 6.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.623ms + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006908 ms (missed cycles : 8). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006908 ms (missed cycles : 8).[0m ×2 + 6.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.709ms + 7.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 7.54sWARNstate_estimatorOptimization exceeded the configured duration by 63753492ns + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.984954 ms (missed cycles : 5). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.984954 ms (missed cycles : 5).[0m ×2 + 8.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.777ms + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140146 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140146 ms (missed cycles : 2).[0m ×2 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 8.94sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.97sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 9.01sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.04sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 9.11sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.15sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 9.28sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.32sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 9.54sINFOobjective_server_nodeFound path in 98 iterations (0.0419322 s). ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.282467 ms (missed cycles : 7). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.282467 ms (missed cycles : 7).[0m ×2 + 9.83sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X____X] ×2 + 9.88sINFOobjective_server_nodeFound path in 0 iterations (8.3e-07 s). ×2 + 10.23sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.27sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 10.61sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729644 ms (missed cycles : 5). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729644 ms (missed cycles : 5).[0m ×2 + 10.84sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678879 ms (missed cycles : 5). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678879 ms (missed cycles : 5).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.718ms + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401686 ms (missed cycles : 4). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401686 ms (missed cycles : 4).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.729ms + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.673ms + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.646128 ms (missed cycles : 7). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.646128 ms (missed cycles : 7).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.701ms + 14.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 14.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401864 ms (missed cycles : 3). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401864 ms (missed cycles : 3).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 15.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197443 ms (missed cycles : 4). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197443 ms (missed cycles : 4).[0m ×2 + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.671ms + 16.83sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784639903.49133539 seconds ×3 + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.732ms + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260423 ms (missed cycles : 3). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260423 ms (missed cycles : 3).[0m ×2 + 17.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784639904.09773850 seconds. ×3 + 17.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.44sINFOmove_groupClearing octomap...[0m ×2 + 17.44sINFOmove_groupOctomap cleared.[0m ×2 + 17.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.720ms + 17.63sWARNstate_estimatorOptimization exceeded the configured duration by 53608449ns + 17.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.672ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704678 ms (missed cycles : 2). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704678 ms (missed cycles : 2).[0m ×2 + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.726ms + 18.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 18.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 19.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720874 ms (missed cycles : 3). + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720874 ms (missed cycles : 3).[0m ×2 + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 9 errors · 56 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207489 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207489 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559181 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559181 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.907904 ms (missed cycles : 8). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.907904 ms (missed cycles : 8).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236364 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236364 ms (missed cycles : 2).[0m ×2 + 3.82sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 5 seconds. ×3 + 3.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784639793.20715332 seconds ×3 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.350ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.990033 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.990033 ms (missed cycles : 5).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.811ms + 4.19sWARNstate_estimatorOptimization exceeded the configured duration by 36084503ns + 4.38sINFOros2_control_nodeMuJoCo sim: 1.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784639793.89033699 seconds. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.57sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.932ms + 4.67sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.287ms + 4.78sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.959ms + 4.84sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.05sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.819ms + 5.28sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 3.030ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456183 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456183 ms (missed cycles : 3).[0m ×2 + 5.48sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 2.789ms + 5.57sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 2.327ms + 5.68sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.424ms + 5.87sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.634ms + 6.05sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.077ms + 6.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 6.15sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.15sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.15sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958961 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958961 ms (missed cycles : 2).[0m ×2 + 6.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms ×2 + 6.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms ×3 + 6.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 6.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 7.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204763 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204763 ms (missed cycles : 2).[0m ×2 + 7.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 7.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.746ms + 7.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.788ms + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398256 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398256 ms (missed cycles : 2).[0m ×2 + 8.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 9.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 9.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.118365 ms (missed cycles : 7). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.118365 ms (missed cycles : 7).[0m ×2 + 9.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 10.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806681 ms (missed cycles : 6). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806681 ms (missed cycles : 6).[0m ×2 + 10.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 10.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 10.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 11.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 11.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927993 ms (missed cycles : 2). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927993 ms (missed cycles : 2).[0m ×2 + 11.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 11.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 12.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 12.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066656 ms (missed cycles : 2). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066656 ms (missed cycles : 2).[0m ×2 + 12.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.124ms + 12.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 13.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 13.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839323 ms (missed cycles : 2). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839323 ms (missed cycles : 2).[0m ×2 + 13.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 13.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.174ms + 13.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 14.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 14.28sWARNstate_estimatorOptimization exceeded the configured duration by 26748087ns + 14.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164129 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164129 ms (missed cycles : 2).[0m ×2 + 14.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms + 14.79sINFOjoint_trajectory_controllerGot request to cancel goal + 14.79sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.79sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784639804.18976498 seconds ×3 + 14.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms ×2 + 15.35sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784639804.74044108 seconds. ×3 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659237 ms (missed cycles : 3). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659237 ms (missed cycles : 3).[0m ×2 + 15.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.702ms + 15.71sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 15.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 15.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 16.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 16.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.157ms + 16.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552055 ms (missed cycles : 3). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552055 ms (missed cycles : 3).[0m ×2 + 16.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.747ms + 16.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.226ms + 16.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 17.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 17.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072035 ms (missed cycles : 4). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072035 ms (missed cycles : 4).[0m ×2 + 17.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 17.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.7s | 37 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484736 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484736 ms (missed cycles : 3).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162593 ms (missed cycles : 4). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162593 ms (missed cycles : 4).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 2.23sWARNstate_estimatorOptimization exceeded the configured duration by 54568351ns + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861869 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861869 ms (missed cycles : 3).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 3.42sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.42sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784639722.02755237 seconds ×3 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490100 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490100 ms (missed cycles : 3).[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.714ms + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.756ms + 4.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784639722.59430051 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.766ms + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.580ms + 4.39sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.941ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (1e-06 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.45sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.45sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.50sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.261ms + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100309 ms (missed cycles : 7). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100309 ms (missed cycles : 7).[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.268ms + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963903 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963903 ms (missed cycles : 5).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191703 ms (missed cycles : 4). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191703 ms (missed cycles : 4).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 7.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613428 ms (missed cycles : 3). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613428 ms (missed cycles : 3).[0m ×2 + 8.11sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784639726.67446923 seconds ×3 + 8.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560057 ms (missed cycles : 3). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560057 ms (missed cycles : 3).[0m ×2 + 9.68sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784639728.24203992 seconds. ×3 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323601 ms (missed cycles : 3). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323601 ms (missed cycles : 3).[0m ×2 + 10.04sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.730764 ms (missed cycles : 7). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.730764 ms (missed cycles : 7).[0m ×2 + 11.50sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512275 ms (missed cycles : 3). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512275 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 31 warnings · 66 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375433 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375433 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.300872 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.300872 ms (missed cycles : 7).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.412306 ms (missed cycles : 7). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.412306 ms (missed cycles : 7).[0m ×2 + 2.51sWARNstate_estimatorOptimization exceeded the configured duration by 34253596ns + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709957 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709957 ms (missed cycles : 3).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.49sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784639661.46426105 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 4.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784639662.01588941 seconds. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034410 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034410 ms (missed cycles : 2).[0m ×2 + 4.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.693ms + 4.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 4.98sINFOobjective_server_nodeFound path in 0 iterations (3.0621e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.99sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.00sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.955281 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.955281 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168347 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168347 ms (missed cycles : 2).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 7.10sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784639665.06607747 seconds ×3 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290392 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290392 ms (missed cycles : 2).[0m ×2 + 7.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 7.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784639665.62741590 seconds. ×3 + 7.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 8.03sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 8.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907060 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907060 ms (missed cycles : 2).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919871 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919871 ms (missed cycles : 2).[0m ×2 + 9.66sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.630ms | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 3.3s | 31 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401686 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401686 ms (missed cycles : 4).[0m ×2 + 0.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.729ms + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.673ms + 0.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.646128 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.646128 ms (missed cycles : 7).[0m ×2 + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.701ms + 1.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 1.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401864 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401864 ms (missed cycles : 3).[0m ×2 + 2.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 2.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197443 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197443 ms (missed cycles : 4).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.671ms + 3.98sINFOjoint_trajectory_controllerGoal reached, success! + 3.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784639903.49133539 seconds ×3 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.732ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260423 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260423 ms (missed cycles : 3).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784639904.09773850 seconds. ×3 + 4.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.62sINFOmove_groupClearing octomap...[0m ×2 + 4.62sINFOmove_groupOctomap cleared.[0m ×2 + 4.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 4.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.720ms + 4.81sWARNstate_estimatorOptimization exceeded the configured duration by 53608449ns + 4.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 5.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.672ms + 5.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704678 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704678 ms (missed cycles : 2).[0m ×2 + 5.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 5.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.726ms + 5.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 5.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 5.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms + 6.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720874 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720874 ms (missed cycles : 3).[0m ×2 + 6.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.229519 ms (missed cycles : 6). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.229519 ms (missed cycles : 6).[0m ×2 + 7.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784639906.83797097 seconds ×3 + 7.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 7.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 7.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.372ms + 7.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784639907.38828373 seconds. ×3 + 8.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 8.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.017881 ms (missed cycles : 5). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.017881 ms (missed cycles : 5).[0m ×2 + 8.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.119ms + 8.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 8.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.754ms + 8.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 8.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784639908.36533332 seconds ×3 + 8.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 9.12sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 9.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231867 ms (missed cycles : 2). + 9.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 9.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.658ms + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231867 ms (missed cycles : 2).[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 4.306271 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.39sINFOobjective_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 + 3.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 5.52sINFOjoint_trajectory_controllerReceived new action goal + 5.52sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670649 ms (missed cycles : 6). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670649 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 22 warnings · 33 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375433 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375433 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.300872 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.300872 ms (missed cycles : 7).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.412306 ms (missed cycles : 7). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.412306 ms (missed cycles : 7).[0m ×2 + 2.51sWARNstate_estimatorOptimization exceeded the configured duration by 34253596ns + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709957 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709957 ms (missed cycles : 3).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784639661.46426105 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 4.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784639662.01588941 seconds. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034410 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034410 ms (missed cycles : 2).[0m ×2 + 4.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.693ms + 4.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 4.98sINFOobjective_server_nodeFound path in 0 iterations (3.0621e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.99sINFOjoint_trajectory_controllerReceived new action goal + 4.99sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.955281 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.955281 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168347 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168347 ms (missed cycles : 2).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 19 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484736 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484736 ms (missed cycles : 3).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162593 ms (missed cycles : 4). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162593 ms (missed cycles : 4).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 2.23sWARNstate_estimatorOptimization exceeded the configured duration by 54568351ns + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861869 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861869 ms (missed cycles : 3).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 3.42sINFOjoint_trajectory_controllerGoal reached, success! + 3.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784639722.02755237 seconds ×3 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490100 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490100 ms (missed cycles : 3).[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.714ms + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.756ms + 4.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784639722.59430051 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.766ms + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.580ms + 4.39sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.941ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (1e-06 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.261ms + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100309 ms (missed cycles : 7). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100309 ms (missed cycles : 7).[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.268ms + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963903 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963903 ms (missed cycles : 5).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 19 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484736 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484736 ms (missed cycles : 3).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162593 ms (missed cycles : 4). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162593 ms (missed cycles : 4).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 2.23sWARNstate_estimatorOptimization exceeded the configured duration by 54568351ns + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861869 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861869 ms (missed cycles : 3).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 3.42sINFOjoint_trajectory_controllerGoal reached, success! + 3.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784639722.02755237 seconds ×3 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490100 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490100 ms (missed cycles : 3).[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.714ms + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.756ms + 4.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784639722.59430051 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.766ms + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.580ms + 4.39sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.941ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (1e-06 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.261ms + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100309 ms (missed cycles : 7). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100309 ms (missed cycles : 7).[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.268ms + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963903 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963903 ms (missed cycles : 5).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 6 errors · 19 warnings · 53 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sWARNstate_estimatorOptimization exceeded the configured duration by 69580490ns + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4).[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 3.89sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.90sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784639834.85065627 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2).[0m ×2 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.341ms + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.722ms + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784639835.48416805 seconds. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.680ms + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.969ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (1.04e-06 s). ×2 + 4.89sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 2.245ms + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.632ms + 5.30sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.867ms + 5.41sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.706ms + 5.61sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.907ms + 5.81sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.544ms + 5.99sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.629ms + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.376ms + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.41sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.645ms + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.472ms + 6.71sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.293ms | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 6 errors · 19 warnings · 53 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sWARNstate_estimatorOptimization exceeded the configured duration by 69580490ns + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4).[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 3.89sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.90sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784639834.85065627 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2).[0m ×2 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.341ms + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.722ms + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784639835.48416805 seconds. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.680ms + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.969ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (1.04e-06 s). ×2 + 4.89sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 2.245ms + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.632ms + 5.30sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.867ms + 5.41sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.706ms + 5.61sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.907ms + 5.81sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.544ms + 5.99sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.629ms + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.376ms + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.41sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.645ms + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.472ms + 6.71sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.293ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 22 warnings · 33 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375433 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375433 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.300872 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.300872 ms (missed cycles : 7).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.412306 ms (missed cycles : 7). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.412306 ms (missed cycles : 7).[0m ×2 + 2.51sWARNstate_estimatorOptimization exceeded the configured duration by 34253596ns + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709957 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709957 ms (missed cycles : 3).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784639661.46426105 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 4.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784639662.01588941 seconds. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034410 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034410 ms (missed cycles : 2).[0m ×2 + 4.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.693ms + 4.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 4.98sINFOobjective_server_nodeFound path in 0 iterations (3.0621e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.99sINFOjoint_trajectory_controllerReceived new action goal + 4.99sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.955281 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.955281 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168347 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168347 ms (missed cycles : 2).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 5.45sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 66 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784639661.46426105 seconds ×3 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 0.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784639662.01588941 seconds. ×3 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034410 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034410 ms (missed cycles : 2).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.693ms + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3.0621e-05 s). ×2 + 1.49sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.50sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.51sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.51sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.955281 ms (missed cycles : 6). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.955281 ms (missed cycles : 6).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168347 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168347 ms (missed cycles : 2).[0m ×2 + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 3.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784639665.06607747 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290392 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290392 ms (missed cycles : 2).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 4.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784639665.62741590 seconds. ×3 + 4.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907060 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907060 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919871 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919871 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.630ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 19 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484736 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484736 ms (missed cycles : 3).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162593 ms (missed cycles : 4). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162593 ms (missed cycles : 4).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 2.23sWARNstate_estimatorOptimization exceeded the configured duration by 54568351ns + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861869 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861869 ms (missed cycles : 3).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 3.42sINFOjoint_trajectory_controllerGoal reached, success! + 3.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784639722.02755237 seconds ×3 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490100 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490100 ms (missed cycles : 3).[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.714ms + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.756ms + 4.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784639722.59430051 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.766ms + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.580ms + 4.39sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.941ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (1e-06 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.261ms + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100309 ms (missed cycles : 7). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100309 ms (missed cycles : 7).[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.268ms + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963903 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963903 ms (missed cycles : 5).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 19 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484736 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484736 ms (missed cycles : 3).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162593 ms (missed cycles : 4). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162593 ms (missed cycles : 4).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 2.23sWARNstate_estimatorOptimization exceeded the configured duration by 54568351ns + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861869 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861869 ms (missed cycles : 3).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 3.42sINFOjoint_trajectory_controllerGoal reached, success! + 3.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784639722.02755237 seconds ×3 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490100 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490100 ms (missed cycles : 3).[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.714ms + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.756ms + 4.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784639722.59430051 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.766ms + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.580ms + 4.39sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.941ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (1e-06 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.261ms + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100309 ms (missed cycles : 7). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100309 ms (missed cycles : 7).[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.268ms + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963903 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963903 ms (missed cycles : 5).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 19 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484736 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484736 ms (missed cycles : 3).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162593 ms (missed cycles : 4). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162593 ms (missed cycles : 4).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 2.23sWARNstate_estimatorOptimization exceeded the configured duration by 54568351ns + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861869 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861869 ms (missed cycles : 3).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 3.42sINFOjoint_trajectory_controllerGoal reached, success! + 3.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784639722.02755237 seconds ×3 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490100 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490100 ms (missed cycles : 3).[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.714ms + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.756ms + 4.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784639722.59430051 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.766ms + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.580ms + 4.39sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.941ms + 4.42sINFOobjective_server_nodeFound path in 0 iterations (1e-06 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.261ms + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100309 ms (missed cycles : 7). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100309 ms (missed cycles : 7).[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.268ms + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963903 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963903 ms (missed cycles : 5).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms | ||||
| − 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 - 1.176ms + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321117 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321117 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.742ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms ×2 + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.778ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241318 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241318 ms (missed cycles : 2).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311471 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311471 ms (missed cycles : 4).[0m ×2 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176068 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176068 ms (missed cycles : 4).[0m ×2 + 3.60sINFOjoint_trajectory_controllerGoal reached, success! + 3.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784639758.71219420 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.055ms + 3.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.058ms + 4.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.248ms + 4.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784639759.27691388 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.471730 ms (missed cycles : 7). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.471730 ms (missed cycles : 7).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.231ms + 4.56sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 4.61sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 2.673ms + 4.81sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.971ms + 4.89sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.581ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 5.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374655 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374655 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms + 5.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 5.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 6.04sWARNstate_estimatorOptimization exceeded the configured duration by 58082263ns + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 6.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083028 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083028 ms (missed cycles : 4).[0m ×2 + 6.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms | ||||
| − 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 - 1.176ms + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321117 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321117 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.742ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms ×2 + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.778ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241318 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241318 ms (missed cycles : 2).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311471 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311471 ms (missed cycles : 4).[0m ×2 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176068 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176068 ms (missed cycles : 4).[0m ×2 + 3.60sINFOjoint_trajectory_controllerGoal reached, success! + 3.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784639758.71219420 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.055ms + 3.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.058ms + 4.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.248ms + 4.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784639759.27691388 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.471730 ms (missed cycles : 7). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.471730 ms (missed cycles : 7).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.231ms + 4.56sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 4.61sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 2.673ms + 4.81sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.971ms + 4.89sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.581ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 5.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374655 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374655 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms + 5.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 5.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 6.04sWARNstate_estimatorOptimization exceeded the configured duration by 58082263ns + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 6.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083028 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083028 ms (missed cycles : 4).[0m ×2 + 6.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms | ||||
| − 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 - 1.176ms + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321117 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321117 ms (missed cycles : 2).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.742ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms ×2 + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.778ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241318 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241318 ms (missed cycles : 2).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311471 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311471 ms (missed cycles : 4).[0m ×2 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176068 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176068 ms (missed cycles : 4).[0m ×2 + 3.60sINFOjoint_trajectory_controllerGoal reached, success! + 3.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784639758.71219420 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.055ms + 3.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.058ms + 4.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.248ms + 4.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784639759.27691388 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.471730 ms (missed cycles : 7). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.471730 ms (missed cycles : 7).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.231ms + 4.56sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 4.61sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 2.673ms + 4.81sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.971ms + 4.89sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.581ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 5.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374655 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374655 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms + 5.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 5.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 6.04sWARNstate_estimatorOptimization exceeded the configured duration by 58082263ns + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 6.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083028 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083028 ms (missed cycles : 4).[0m ×2 + 6.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 5.45sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 6 errors · 19 warnings · 53 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sWARNstate_estimatorOptimization exceeded the configured duration by 69580490ns + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4).[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 3.89sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.90sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784639834.85065627 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2).[0m ×2 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.341ms + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.722ms + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784639835.48416805 seconds. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.680ms + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.969ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (1.04e-06 s). ×2 + 4.89sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 2.245ms + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.632ms + 5.30sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.867ms + 5.41sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.706ms + 5.61sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.907ms + 5.81sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.544ms + 5.99sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.629ms + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.376ms + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.41sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.645ms + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.472ms + 6.71sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.293ms | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 6 errors · 19 warnings · 53 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sWARNstate_estimatorOptimization exceeded the configured duration by 69580490ns + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4).[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 3.89sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.90sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784639834.85065627 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2).[0m ×2 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.341ms + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.722ms + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784639835.48416805 seconds. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.680ms + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.969ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (1.04e-06 s). ×2 + 4.89sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 2.245ms + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.632ms + 5.30sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.867ms + 5.41sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.706ms + 5.61sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.907ms + 5.81sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.544ms + 5.99sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.629ms + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.376ms + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.41sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.645ms + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.472ms + 6.71sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.293ms | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 5.45sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 6 errors · 19 warnings · 53 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sWARNstate_estimatorOptimization exceeded the configured duration by 69580490ns + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4).[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 3.89sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.90sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784639834.85065627 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2).[0m ×2 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.341ms + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.722ms + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784639835.48416805 seconds. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.680ms + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.969ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (1.04e-06 s). ×2 + 4.89sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 2.245ms + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.632ms + 5.30sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.867ms + 5.41sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.706ms + 5.61sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.907ms + 5.81sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.544ms + 5.99sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.629ms + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.376ms + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.41sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.645ms + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.472ms + 6.71sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.293ms | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 6 errors · 19 warnings · 53 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sWARNstate_estimatorOptimization exceeded the configured duration by 69580490ns + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4).[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 3.89sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.90sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784639834.85065627 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2).[0m ×2 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.341ms + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.722ms + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784639835.48416805 seconds. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.680ms + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.969ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (1.04e-06 s). ×2 + 4.89sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 2.245ms + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.632ms + 5.30sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.867ms + 5.41sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.706ms + 5.61sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.907ms + 5.81sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.544ms + 5.99sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.629ms + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.376ms + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.41sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.645ms + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.472ms + 6.71sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.293ms | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 6 errors · 19 warnings · 53 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sWARNstate_estimatorOptimization exceeded the configured duration by 69580490ns + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4).[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 3.89sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.90sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784639834.85065627 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2).[0m ×2 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.341ms + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.722ms + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784639835.48416805 seconds. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.680ms + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.969ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (1.04e-06 s). ×2 + 4.89sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 2.245ms + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.632ms + 5.30sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.867ms + 5.41sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.706ms + 5.61sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.907ms + 5.81sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.544ms + 5.99sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.629ms + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.376ms + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.41sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.645ms + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.472ms + 6.71sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.293ms | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 6 errors · 19 warnings · 53 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.193516 ms (missed cycles : 7).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852130 ms (missed cycles : 5).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sWARNstate_estimatorOptimization exceeded the configured duration by 69580490ns + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152799 ms (missed cycles : 4).[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 3.89sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.90sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784639834.85065627 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267477 ms (missed cycles : 2).[0m ×2 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.341ms + 4.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.722ms + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784639835.48416805 seconds. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.680ms + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 2.969ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (1.04e-06 s). ×2 + 4.89sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 2.245ms + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538459 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.632ms + 5.30sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.867ms + 5.41sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.706ms + 5.61sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.907ms + 5.81sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.544ms + 5.99sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.629ms + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558016 ms (missed cycles : 3).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.376ms + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.41sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.645ms + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.472ms + 6.71sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.293ms | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 22 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401686 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401686 ms (missed cycles : 4).[0m ×2 + 0.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.729ms + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.673ms + 0.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.646128 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.646128 ms (missed cycles : 7).[0m ×2 + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.701ms + 1.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 1.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401864 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401864 ms (missed cycles : 3).[0m ×2 + 2.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 2.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197443 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197443 ms (missed cycles : 4).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.671ms + 3.98sINFOjoint_trajectory_controllerGoal reached, success! + 3.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784639903.49133539 seconds ×3 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.732ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260423 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260423 ms (missed cycles : 3).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784639904.09773850 seconds. ×3 + 4.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.62sINFOmove_groupClearing octomap...[0m ×2 + 4.62sINFOmove_groupOctomap cleared.[0m ×2 + 4.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 4.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.720ms + 4.81sWARNstate_estimatorOptimization exceeded the configured duration by 53608449ns + 4.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 5.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.672ms + 5.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704678 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704678 ms (missed cycles : 2).[0m ×2 + 5.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 5.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.726ms + 5.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 5.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 5.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms + 6.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720874 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720874 ms (missed cycles : 3).[0m ×2 + 6.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 30.9s | 71 errors · 695 warnings · 1937 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/2026-07-21-13-07-30-195484-64d5307f5f3f-9232 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 13.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×3 + 13.19sINFOros2_control_node-9process started with pid [9290] + 13.19sINFOmove_group-21process started with pid [9379] + 13.19sINFOparameter_manager_node-22process started with pid [9380] + 13.19sINFOwaypoint_manager_node-23process started with pid [9381] + 13.19sINFOmove_joint_resampler_node-24process started with pid [9412] + 13.19sINFOmove_end_effector_resampler_node-25process started with pid [9413] + 13.19sINFOobjective_server_node_main-26process started with pid [9414] + 13.20sINFOcomponent_container_mt-27process started with pid [9415] + 13.20sINFOcomponent_container_mt-28process started with pid [9416] + 13.20sINFOexecute_objective_bridge-29process started with pid [9417] + 13.20sINFOui_teleop_bridge-30process started with pid [9418] + 13.20sINFOweb_bridge-31process started with pid [9419] + 13.20sINFOtf2_web_republisher_node-32process started with pid [9420] + 13.20sINFOweb_video_server-33process started with pid [9421] + 13.20sINFOweb_bridge_auth_proxy-34process started with pid [9422] + 13.20sINFOweb_video_auth_proxy-35process started with pid [9424] + 13.20sINFOcomponent_container_isolated-1process started with pid [9282] + 13.20sINFOstatic_transform_publisher-2process started with pid [9283] + 13.20sINFOodom_world_drift.py-3process started with pid [9284] + 13.20sINFOslip_aware_odom-4process started with pid [9285] + 13.21sINFOodom_qos_relay.py-5process started with pid [9286] + 13.21sINFOscan_to_scan_filter_chain-6process started with pid [9287] + 13.21sINFOscan_to_scan_filter_chain-7process started with pid [9288] + 13.21sINFOfixed_lag_smoother_node-8process started with pid [9289] + 13.21sINFOros2-10process started with pid [9368] + 13.21sINFOros2-11process started with pid [9369] + 13.21sINFOros2-12process started with pid [9370] + 13.21sINFOros2-13process started with pid [9371] + 13.21sINFOros2-14process started with pid [9372] + 13.21sINFOros2-15process started with pid [9373] + 13.21sINFOros2-16process started with pid [9374] + 13.21sINFOros2-17process started with pid [9375] + 13.21sINFOros2-18process started with pid [9376] + 13.21sINFOros2-19process started with pid [9377] + 13.21sINFOros2-20process started with pid [9378] + 13.30sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×3 + 13.30sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×3 + 13.30sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 13.31sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 13.31sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 13.31sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 13.31sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 13.31sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 13.31sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 13.31sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 13.31sWARNros2_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 + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.900925 ms (missed cycles : 9).[0m + 13.37sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 13.37sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 13.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 13.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.43sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 13.57sINFOcomponent_container_mtRobot initialized[0m ×3 + 13.57sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 13.58sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 13.58sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 13.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 13.60sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 13.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 13.66sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 13.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 13.66sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 13.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 13.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 13.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 13.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 13.85sINFOmove_groupLoaded robot model in 0.359605 seconds[0m + 13.85sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 13.85sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 13.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 13.89sWARNscan_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 + 13.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 14.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 14.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 14.18sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 14.18sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 14.18sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 14.18sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 14.18sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 14.18sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 14.18sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 14.18sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 14.18sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×3 + 14.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.553995 ms (missed cycles : 7).[0m + 14.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 14.48sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 14.48sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.49sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.62sINFOwaypoint_manager_nodeLoaded robot model in 0.431008 seconds[0m + 14.62sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 14.62sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.08sINFOmove_group[2026-07-21 13:07:48.514] [moveit_pro_license] [info] + 15.08sINFOmove_group************************************************* ×6 + 15.08sINFOmove_group* MoveIt Pro License ×3 + 15.08sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 15.11sWARNwaypoint_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 + 15.11sWARNwaypoint_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 + 15.11sWARNwaypoint_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 + 15.12sWARNwaypoint_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 + 15.12sWARNwaypoint_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 + 15.12sWARNwaypoint_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 + 15.13sWARNwaypoint_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 + 15.14sWARNwaypoint_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 + 15.14sWARNwaypoint_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 + 15.14sWARNwaypoint_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 + 15.15sWARNwaypoint_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 + 15.15sWARNwaypoint_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 + 15.15sWARNwaypoint_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 + 15.15sWARNwaypoint_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 + 15.15sWARNwaypoint_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 + 15.15sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.15sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.15sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.15sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.15sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.15sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.15sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.29sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×16 + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711761 ms (missed cycles : 2).[0m + 15.48sINFOwaypoint_manager_node[2026-07-21 13:07:48.919] [moveit_pro_license] [info] + 15.48sINFOwaypoint_manager_node************************************************* ×6 + 15.48sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 15.48sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 15.59sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 15.59sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 15.60sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 15.60sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.60sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 15.60sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 15.61sINFOmove_groupStarting planning scene monitor[0m ×3 + 15.61sINFOmove_groupListening to '/planning_scene'[0m ×3 + 15.61sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 15.61sINFOmove_groupListening to 'collision_object'[0m ×3 + 15.61sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 15.71sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 15.71sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 15.83sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 15.83sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.84sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 16.43sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 16.43sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 16.43sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 16.43sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 16.43sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 16.43sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 16.43sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 16.43sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 16.43sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 16.43sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 16.43sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 16.43sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 16.43sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 16.43sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 16.43sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 16.43sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 16.43sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 16.43sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 16.43sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 16.43sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 16.47sWARNros2_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 + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116867 ms (missed cycles : 2).[0m + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 16.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 16.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 16.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 16.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 16.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 16.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 16.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 16.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 16.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 16.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 16.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 16.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 16.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 16.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 16.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 16.54sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 16.55sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 16.55sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 16.56sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4t85wsr8 --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_nhdye0uo --params-file /tmp/launch_params_2z8vakok [0m + 16.59sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 16.60sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 16.60sINFOros2_control_nodeconfigure successful[0m ×9 + 16.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 16.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 16.61sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 16.74sINFOobjective_server_node[2026-07-21 13:07:50.179] [moveit_pro_license] [info] + 16.74sINFOobjective_server_node************************************************* ×8 + 16.74sINFOobjective_server_node* MoveIt Pro License ×4 + 16.74sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.75sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.76sWARNcomponent_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 + 16.82sINFOobjective_server_nodeLoaded robot model in 0.0294815 seconds[0m + 16.82sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 16.82sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.97sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.97sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 16.97sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 16.97sINFOros2-13process has finished cleanly [pid 9371] + 17.00sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 17.01sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 17.01sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 17.01sINFOcomponent_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 + 17.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 17.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 17.11sINFOcomponent_container_mtLoaded robot model in 0.350422 seconds[0m + 17.11sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 17.11sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.15sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4t85wsr8 --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_nhdye0uo --params-file /tmp/launch_params_2z8vakok [0m + 17.19sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 17.20sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 17.23sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 17.23sWARNobjective_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 + 17.23sWARNobjective_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 + 17.23sWARNobjective_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 + 17.23sWARNobjective_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 + 17.24sWARNobjective_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 + 17.24sWARNobjective_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 + 17.24sWARNobjective_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 + 17.24sWARNobjective_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 + 17.24sWARNobjective_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 + 17.24sWARNobjective_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 + 17.24sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 17.24sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 17.27sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 17.27sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 17.27sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 17.27sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 17.28sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 17.28sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 17.28sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 17.29sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 17.29sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 17.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 17.30sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 17.33sINFOcomponent_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 + 17.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 17.33sINFOobjective_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 + 17.33sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 17.35sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 17.35sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 17.35sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 17.35sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 17.35sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 17.35sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 17.35sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 17.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 17.43sINFOmove_group ×12 + 17.43sINFOmove_group******************************************************** ×6 + 17.43sINFOmove_group* MoveGroup using: ×3 + 17.43sINFOmove_group* - apply_planning_scene_service ×3 + 17.43sINFOmove_group* - clear_octomap_service ×3 + 17.43sINFOmove_group* - get_group_urdf ×3 + 17.43sINFOmove_group* - load_geometry_from_file ×3 + 17.43sINFOmove_group* - get_planning_scene_service ×3 + 17.43sINFOmove_group* - kinematics_service ×3 + 17.43sINFOmove_group* - save_geometry_to_file ×3 + 17.43sINFOmove_group* - GetPlanningGroups ×3 + 17.43sINFOmove_group* - URDFPlanningSceneCapability ×3 + 17.43sINFOmove_group[0m ×3 + 17.43sINFOmove_group[92mYou can start planning now![0m ×3 + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689878 ms (missed cycles : 2).[0m + 17.54sWARNcomponent_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 + 17.54sWARNcomponent_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 + 17.54sWARNcomponent_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 + 17.54sWARNcomponent_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 + 17.54sWARNcomponent_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 + 17.54sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.56sWARNcomponent_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 + 17.56sWARNcomponent_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 + 17.56sWARNcomponent_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 + 17.56sWARNcomponent_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 + 17.56sWARNcomponent_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 + 17.56sWARNcomponent_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 + 17.56sWARNcomponent_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 + 17.56sWARNcomponent_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 + 17.67sINFOros2_control_node[2026-07-21 13:07:51.110] [warning] No force/torque sensor configured. The VFC will ignore force references. + 17.68sINFOros2_control_node[2026-07-21 13:07:51.114] [info] Controller state will be published at 10 Hz. + 17.68sINFOros2_control_node[2026-07-21 13:07:51.115] [info] VelocityForceController 'on_configure' succeeded. + 17.77sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 17.84sWARNobjective_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 + 17.84sINFOcomponent_container_mt[2026-07-21 13:07:51.278] [moveit_pro_license] [info] + 17.84sINFOcomponent_container_mt************************************************* ×6 + 17.84sINFOcomponent_container_mt* MoveIt Pro License ×3 + 17.84sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 18.08sINFOros2-18process has finished cleanly [pid 9376] + 18.09sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 18.09sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 18.09sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4t85wsr8 --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_nhdye0uo --params-file /tmp/launch_params_2z8vakok [0m + 18.14sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 18.14sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 18.17sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 18.17sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 18.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 18.18sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 18.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.36sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 18.44sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 18.44sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 18.48sINFOros2-15process has finished cleanly [pid 9373] + 18.54sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4t85wsr8 --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_nhdye0uo --params-file /tmp/launch_params_2z8vakok [0m + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533516 ms (missed cycles : 2).[0m + 18.61sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 18.61sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 18.98sINFOros2_control_node[2026-07-21 13:07:52.413] [info] Controller state will be published at 20 Hz. + 18.98sINFOros2_control_node[2026-07-21 13:07:52.415] [info] JointVelocityController 'on_configure' succeeded. + 19.35sINFOros2-20process has finished cleanly [pid 9378] + 19.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673149 ms (missed cycles : 2).[0m + 19.60sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 19.60sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 19.61sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4t85wsr8 --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_nhdye0uo --params-file /tmp/launch_params_2z8vakok [0m + 19.64sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 19.65sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 19.65sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 19.66sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 19.98sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 19.98sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 19.99sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4t85wsr8 --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_nhdye0uo --params-file /tmp/launch_params_2z8vakok [0m + 20.01sINFOros2-11process has finished cleanly [pid 9369] + 20.06sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 20.06sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 20.06sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 20.06sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 20.06sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 20.07sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 20.08sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 20.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 20.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 20.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4t85wsr8 --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_nhdye0uo --params-file /tmp/launch_params_2z8vakok [0m + 20.45sINFOros2-12process has finished cleanly [pid 9370] + 20.49sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 20.50sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253550 ms (missed cycles : 2).[0m + 20.89sINFOros2_control_node[2026-07-21 13:07:54.321] [warning] No force/torque sensor configured. The VFC will ignore force references. + 20.89sINFOros2_control_node[2026-07-21 13:07:54.324] [info] Controller state will be published at 10 Hz. + 20.89sINFOros2_control_node[2026-07-21 13:07:54.325] [info] VelocityForceController 'on_configure' succeeded. + 21.25sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 21.25sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 21.25sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4t85wsr8 --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_nhdye0uo --params-file /tmp/launch_params_2z8vakok [0m + 21.26sINFOros2-17process has finished cleanly [pid 9375] + 21.28sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 21.32sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 21.34sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 21.34sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 21.34sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 21.35sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 21.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812226 ms (missed cycles : 2).[0m + 21.71sINFOros2-14process has finished cleanly [pid 9372] + 21.74sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 21.74sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 21.74sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4t85wsr8 --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_nhdye0uo --params-file /tmp/launch_params_2z8vakok [0m + 21.84sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 21.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 21.84sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 21.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 21.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 21.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 21.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 21.85sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 22.21sINFOros2-16process has finished cleanly [pid 9374] + 22.51sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 22.51sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 22.51sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4t85wsr8 --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_nhdye0uo --params-file /tmp/launch_params_2z8vakok [0m + 22.54sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 22.55sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867723 ms (missed cycles : 3).[0m + 22.92sINFOros2_control_node[2026-07-21 13:07:56.358] [info] Controller state will be published at 20 Hz. + 22.92sINFOros2_control_node[2026-07-21 13:07:56.359] [info] JointVelocityController 'on_configure' succeeded. + 23.30sINFOros2-19process has finished cleanly [pid 9377] + 23.58sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 23.58sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 23.59sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4t85wsr8 --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_nhdye0uo --params-file /tmp/launch_params_2z8vakok [0m + 23.62sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 23.65sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 23.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177283 ms (missed cycles : 2).[0m + 23.67sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 23.67sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 23.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 23.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 23.99sINFOros2-10process has finished cleanly [pid 9368] + 24.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980949 ms (missed cycles : 3).[0m + 25.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468349 ms (missed cycles : 4).[0m + 26.48sINFOros2_control_nodeMuJoCo sim: 1.66% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m + 26.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301801 ms (missed cycles : 2).[0m + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167991 ms (missed cycles : 3).[0m + 28.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706312 ms (missed cycles : 2).[0m + 29.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639282.47680998 seconds. + 29.04sINFOmove_groupClearing octomap...[0m ×4 + 29.04sINFOmove_groupOctomap cleared.[0m ×4 + 29.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639282.48706293 seconds + 29.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639283.04883742 seconds. + 29.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639283.05896282 seconds + 29.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704845 ms (missed cycles : 3).[0m + 30.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639283.62199736 seconds. + 30.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639283.77257276 seconds + 30.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979582 ms (missed cycles : 2).[0m + 30.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639284.36424994 seconds. + 30.94sINFOobjective_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 + 30.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 30.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 30.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 30.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639284.42441463 seconds + 31.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639284.97427678 seconds. + 31.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 31.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 31.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 31.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 31.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.128026 ms (missed cycles : 5).[0m + 32.62sINFOobjective_server_nodePlanning for 177 path waypoints. + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.874524 ms (missed cycles : 8).[0m + 33.07sINFOros2_control_nodeReceived new action goal[0m ×13 + 33.07sINFOros2_control_nodeAccepted new action goal[0m ×13 + 34.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006502 ms (missed cycles : 5).[0m + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224073 ms (missed cycles : 2).[0m + 36.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527343 ms (missed cycles : 4).[0m + 37.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718222 ms (missed cycles : 3).[0m + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417779 ms (missed cycles : 3).[0m + 39.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615083 ms (missed cycles : 2).[0m + 40.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843811 ms (missed cycles : 4).[0m + 41.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898510 ms (missed cycles : 5).[0m + 42.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821027 ms (missed cycles : 4).[0m + 43.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168820 ms (missed cycles : 2).[0m + 44.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760752 ms (missed cycles : 3).[0m + 45.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487816 ms (missed cycles : 3).[0m + 46.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628480 ms (missed cycles : 3).[0m + 47.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892691 ms (missed cycles : 2).[0m + 48.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179931 ms (missed cycles : 3).[0m + 49.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.146598 ms (missed cycles : 4).[0m + 50.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306796 ms (missed cycles : 2).[0m + 51.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611333 ms (missed cycles : 4).[0m + 52.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210864 ms (missed cycles : 5).[0m + 53.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724459 ms (missed cycles : 3).[0m + 54.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181585 ms (missed cycles : 3).[0m + 55.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245839 ms (missed cycles : 3).[0m + 56.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464979 ms (missed cycles : 2).[0m + 57.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106830 ms (missed cycles : 3).[0m + 58.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151171 ms (missed cycles : 2).[0m + 59.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506501 ms (missed cycles : 2).[0m + 60.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087939 ms (missed cycles : 3).[0m + 61.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102594 ms (missed cycles : 2).[0m + 62.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912017 ms (missed cycles : 5).[0m + 63.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.360951 ms (missed cycles : 6).[0m + 65.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233315 ms (missed cycles : 2).[0m + 66.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.290261 ms (missed cycles : 5).[0m + 67.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787927 ms (missed cycles : 3).[0m + 68.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987145 ms (missed cycles : 4).[0m + 69.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808601 ms (missed cycles : 3).[0m + 70.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888512 ms (missed cycles : 2).[0m + 71.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697846 ms (missed cycles : 6).[0m + 72.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366153 ms (missed cycles : 3).[0m + 73.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665052 ms (missed cycles : 3).[0m + 74.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.286308 ms (missed cycles : 5).[0m + 74.76sINFOros2_control_nodeGoal reached, success![0m ×12 + 74.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784639328.21552181 seconds + 75.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.961402 ms (missed cycles : 6).[0m + 75.33sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784639328.76916742 seconds. + 76.30sINFOobjective_server_nodeFound path in 0 iterations (2.3651e-05 s). + 76.30sINFOobjective_server_nodePath shortcutter: [X____X] + 76.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832894 ms (missed cycles : 4).[0m + 76.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 77.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260113 ms (missed cycles : 3).[0m + 78.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345767 ms (missed cycles : 2).[0m + 78.44sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784639331.87931228 seconds + 79.00sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784639332.43411183 seconds. + 79.37sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 79.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222504 ms (missed cycles : 2).[0m + 80.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906656 ms (missed cycles : 3).[0m + 81.00sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 81.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094404 ms (missed cycles : 2).[0m + 82.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742815 ms (missed cycles : 3).[0m + 83.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.132403 ms (missed cycles : 5).[0m + 84.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160967 ms (missed cycles : 2).[0m + 85.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117998 ms (missed cycles : 5).[0m + 86.48sINFOros2_control_nodeMuJoCo sim: 0.87% of iterations over time budget. Below 1% expected for non-realtime.[0m + 86.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402548 ms (missed cycles : 3).[0m + 87.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.320751 ms (missed cycles : 4).[0m + 88.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184279 ms (missed cycles : 2).[0m + 89.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899623 ms (missed cycles : 3).[0m + 90.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693946 ms (missed cycles : 2).[0m + 91.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460029 ms (missed cycles : 3).[0m + 92.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981705 ms (missed cycles : 2).[0m + 93.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592461 ms (missed cycles : 3).[0m + 94.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814050 ms (missed cycles : 2).[0m + 96.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002262 ms (missed cycles : 2).[0m + 97.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538096 ms (missed cycles : 5).[0m + 98.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884390 ms (missed cycles : 3).[0m + 99.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287560 ms (missed cycles : 2).[0m +100.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701013 ms (missed cycles : 4).[0m +101.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110768 ms (missed cycles : 3).[0m +102.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172170 ms (missed cycles : 4).[0m +103.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687942 ms (missed cycles : 3).[0m +104.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855963 ms (missed cycles : 3).[0m +105.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367607 ms (missed cycles : 2).[0m +106.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190648 ms (missed cycles : 2).[0m +107.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.346316 ms (missed cycles : 7).[0m +108.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484409 ms (missed cycles : 2).[0m +109.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700912 ms (missed cycles : 3).[0m +109.71sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +110.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.013781 ms (missed cycles : 5).[0m +111.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.574053 ms (missed cycles : 7).[0m +112.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839760 ms (missed cycles : 4).[0m +113.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728620 ms (missed cycles : 3).[0m +114.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603448 ms (missed cycles : 4).[0m +115.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763691 ms (missed cycles : 3).[0m +116.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950089 ms (missed cycles : 2).[0m +117.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231218 ms (missed cycles : 4).[0m +118.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793191 ms (missed cycles : 3).[0m +119.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230719 ms (missed cycles : 2).[0m +120.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083087 ms (missed cycles : 4).[0m +121.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752853 ms (missed cycles : 2).[0m +122.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324772 ms (missed cycles : 2).[0m +123.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995871 ms (missed cycles : 2).[0m +124.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495528 ms (missed cycles : 3).[0m +125.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971991 ms (missed cycles : 3).[0m +126.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190043 ms (missed cycles : 3).[0m +127.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119227 ms (missed cycles : 3).[0m +128.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820788 ms (missed cycles : 2).[0m +129.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995642 ms (missed cycles : 2).[0m +130.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338873 ms (missed cycles : 3).[0m +131.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845414 ms (missed cycles : 2).[0m +133.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159297 ms (missed cycles : 2).[0m +134.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360827 ms (missed cycles : 3).[0m +135.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962487 ms (missed cycles : 2).[0m +135.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784639388.94425678 seconds +136.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807127 ms (missed cycles : 2).[0m +136.08sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784639389.51356101 seconds. +136.46sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). +136.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +137.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.975595 ms (missed cycles : 7).[0m +138.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850777 ms (missed cycles : 6).[0m +139.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787644 ms (missed cycles : 3).[0m +140.16sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784639393.59370399 seconds +140.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799354 ms (missed cycles : 3).[0m +141.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754188 ms (missed cycles : 4).[0m +141.72sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784639395.15745997 seconds. +142.08sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×3 +142.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.460807 ms (missed cycles : 6).[0m +143.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426933 ms (missed cycles : 2).[0m +143.57sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +144.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674545 ms (missed cycles : 2).[0m +145.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439168 ms (missed cycles : 3).[0m +146.49sINFOros2_control_nodeMuJoCo sim: 1.15% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +146.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981226 ms (missed cycles : 2).[0m +147.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.384456 ms (missed cycles : 4).[0m +148.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790446 ms (missed cycles : 2).[0m +149.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076142 ms (missed cycles : 3).[0m +150.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.177891 ms (missed cycles : 5).[0m +151.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499607 ms (missed cycles : 4).[0m +152.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477220 ms (missed cycles : 4).[0m +153.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717986 ms (missed cycles : 5).[0m +154.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994907 ms (missed cycles : 3).[0m +155.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113083 ms (missed cycles : 2).[0m +156.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240965 ms (missed cycles : 2).[0m +157.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664034 ms (missed cycles : 3).[0m +158.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039775 ms (missed cycles : 4).[0m +159.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936676 ms (missed cycles : 4).[0m +160.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865822 ms (missed cycles : 3).[0m +162.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212699 ms (missed cycles : 2).[0m +163.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299396 ms (missed cycles : 2).[0m +164.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928854 ms (missed cycles : 6).[0m +165.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.940184 ms (missed cycles : 7).[0m +166.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757225 ms (missed cycles : 7).[0m +167.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.402156 ms (missed cycles : 5).[0m +168.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076546 ms (missed cycles : 3).[0m +169.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629449 ms (missed cycles : 3).[0m +170.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268965 ms (missed cycles : 3).[0m +171.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.630034 ms (missed cycles : 6).[0m +172.21sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784639425.64760900 seconds +172.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791999 ms (missed cycles : 3).[0m +172.78sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784639426.21201086 seconds. +173.13sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). +173.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130449 ms (missed cycles : 2).[0m +174.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 +174.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705876 ms (missed cycles : 5).[0m +175.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.696272 ms (missed cycles : 6).[0m +176.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881553 ms (missed cycles : 4).[0m +177.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282808 ms (missed cycles : 2).[0m +178.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698556 ms (missed cycles : 3).[0m +179.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.607187 ms (missed cycles : 6).[0m +180.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730254 ms (missed cycles : 2).[0m +181.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821441 ms (missed cycles : 3).[0m +182.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412950 ms (missed cycles : 3).[0m +183.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451212 ms (missed cycles : 4).[0m +184.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165344 ms (missed cycles : 2).[0m +186.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437638 ms (missed cycles : 2).[0m +187.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.143076 ms (missed cycles : 6).[0m +188.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785091 ms (missed cycles : 3).[0m +189.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619936 ms (missed cycles : 3).[0m +190.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045332 ms (missed cycles : 2).[0m +191.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069281 ms (missed cycles : 2).[0m +192.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153335 ms (missed cycles : 3).[0m +193.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304198 ms (missed cycles : 2).[0m +194.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989056 ms (missed cycles : 3).[0m +195.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818861 ms (missed cycles : 3).[0m +196.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435046 ms (missed cycles : 3).[0m +197.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436418 ms (missed cycles : 4).[0m +198.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.925649 ms (missed cycles : 6).[0m +199.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247026 ms (missed cycles : 2).[0m +200.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853251 ms (missed cycles : 2).[0m +201.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311523 ms (missed cycles : 2).[0m +202.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580144 ms (missed cycles : 3).[0m +203.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101636 ms (missed cycles : 4).[0m +204.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034334 ms (missed cycles : 2).[0m +205.56sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. +205.57sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. +205.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784639459.00223565 seconds +205.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528444 ms (missed cycles : 3).[0m +206.25sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784639459.68910265 seconds. +206.49sINFOros2_control_nodeMuJoCo sim: 1.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +206.61sINFOobjective_server_nodeFound path in 0 iterations (1.03e-06 s). +206.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150381 ms (missed cycles : 5).[0m +207.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.035743 ms (missed cycles : 5).[0m +208.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.288031 ms (missed cycles : 5).[0m +209.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.661453 ms (missed cycles : 6).[0m +210.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927569 ms (missed cycles : 5).[0m +212.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686144 ms (missed cycles : 5).[0m +213.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766999 ms (missed cycles : 3).[0m +214.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921044 ms (missed cycles : 2).[0m +215.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936084 ms (missed cycles : 2).[0m +216.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497952 ms (missed cycles : 3).[0m +216.35sINFOros2_control_nodeGot request to cancel goal[0m +216.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +216.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784639469.83477235 seconds +216.96sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784639470.39790154 seconds. +217.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196952 ms (missed cycles : 2).[0m +217.33sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). +218.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789381 ms (missed cycles : 3).[0m +219.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947415 ms (missed cycles : 2).[0m +220.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092893 ms (missed cycles : 4).[0m +221.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809237 ms (missed cycles : 7).[0m +222.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405923 ms (missed cycles : 3).[0m +223.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379832 ms (missed cycles : 3).[0m +224.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104198 ms (missed cycles : 5).[0m +225.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403613 ms (missed cycles : 4).[0m +226.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801821 ms (missed cycles : 2).[0m +227.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892689 ms (missed cycles : 2).[0m +228.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454425 ms (missed cycles : 5).[0m +229.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708329 ms (missed cycles : 3).[0m +230.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816516 ms (missed cycles : 3).[0m +231.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939081 ms (missed cycles : 3).[0m +232.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.712327 ms (missed cycles : 6).[0m +233.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460179 ms (missed cycles : 3).[0m +234.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318611 ms (missed cycles : 4).[0m +235.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082319 ms (missed cycles : 5).[0m +236.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745774 ms (missed cycles : 2).[0m +237.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.127595 ms (missed cycles : 7).[0m +239.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.637048 ms (missed cycles : 6).[0m +240.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368627 ms (missed cycles : 3).[0m +241.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474734 ms (missed cycles : 4).[0m +242.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.402388 ms (missed cycles : 7).[0m +243.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666590 ms (missed cycles : 3).[0m +244.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.256972 ms (missed cycles : 10).[0m +245.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130157 ms (missed cycles : 5).[0m +246.15sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. +246.16sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. +246.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784639499.59816194 seconds +246.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356737 ms (missed cycles : 2).[0m +246.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784639500.23205972 seconds. +247.14sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). +247.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974662 ms (missed cycles : 2).[0m +248.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646381 ms (missed cycles : 6).[0m +249.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138488 ms (missed cycles : 2).[0m +250.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158464 ms (missed cycles : 2).[0m +251.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536333 ms (missed cycles : 4).[0m +252.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256157 ms (missed cycles : 2).[0m +253.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072129 ms (missed cycles : 2).[0m +254.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108307 ms (missed cycles : 2).[0m +255.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760484 ms (missed cycles : 2).[0m +256.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653804 ms (missed cycles : 3).[0m +257.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181963 ms (missed cycles : 3).[0m +258.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436495 ms (missed cycles : 4).[0m +259.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610949 ms (missed cycles : 3).[0m +260.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663202 ms (missed cycles : 3).[0m +261.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791931 ms (missed cycles : 2).[0m +262.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836189 ms (missed cycles : 2).[0m +263.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971890 ms (missed cycles : 2).[0m +264.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030072 ms (missed cycles : 2).[0m +265.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742859 ms (missed cycles : 2).[0m +266.50sINFOros2_control_nodeMuJoCo sim: 1.10% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +266.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444422 ms (missed cycles : 3).[0m +267.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785062 ms (missed cycles : 2).[0m +268.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831176 ms (missed cycles : 3).[0m +269.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933882 ms (missed cycles : 2).[0m +270.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693731 ms (missed cycles : 3).[0m +271.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690408 ms (missed cycles : 3).[0m +272.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170792 ms (missed cycles : 2).[0m +274.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128267 ms (missed cycles : 2).[0m +275.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061232 ms (missed cycles : 2).[0m +276.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471874 ms (missed cycles : 2).[0m +277.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224268 ms (missed cycles : 4).[0m +278.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826594 ms (missed cycles : 3).[0m +279.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236466 ms (missed cycles : 2).[0m +280.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.831030 ms (missed cycles : 6).[0m +281.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132092 ms (missed cycles : 2).[0m +282.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254239 ms (missed cycles : 2).[0m +283.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955711 ms (missed cycles : 2).[0m +284.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476880 ms (missed cycles : 4).[0m +285.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.619645 ms (missed cycles : 6).[0m +286.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607683 ms (missed cycles : 4).[0m +287.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891708 ms (missed cycles : 2).[0m +288.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212756 ms (missed cycles : 4).[0m +289.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.045762 ms (missed cycles : 5).[0m +290.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085642 ms (missed cycles : 5).[0m +291.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093320 ms (missed cycles : 4).[0m +292.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463404 ms (missed cycles : 3).[0m +293.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884888 ms (missed cycles : 3).[0m +294.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220556 ms (missed cycles : 2).[0m +295.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905444 ms (missed cycles : 2).[0m +296.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197753 ms (missed cycles : 2).[0m +297.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085792 ms (missed cycles : 2).[0m +298.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147568 ms (missed cycles : 2).[0m +299.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.478277 ms (missed cycles : 7).[0m +300.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986703 ms (missed cycles : 5).[0m +301.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784639554.82221293 seconds +301.94sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784639555.38005590 seconds. +301.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267899 ms (missed cycles : 2).[0m +302.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793180 ms (missed cycles : 3).[0m +304.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689795 ms (missed cycles : 2).[0m +305.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210700 ms (missed cycles : 2).[0m +306.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084019 ms (missed cycles : 4).[0m +306.58sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). +306.60sINFOobjective_server_nodePath shortcutter: [X__________________X] +306.66sINFOobjective_server_nodePath shortcutter: [X____________________X] +306.69sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). +306.74sINFOobjective_server_nodePath shortcutter: [X_________________________X] +306.78sINFOobjective_server_nodeFound path in 0 iterations (8.8e-07 s). +306.91sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] +306.95sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). +307.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193551 ms (missed cycles : 2).[0m +307.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] +307.30sINFOobjective_server_nodeFound path in 29 iterations (0.0302123 s). +307.52sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] +307.58sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). +307.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +307.99sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). +308.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645073 ms (missed cycles : 3).[0m +308.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +308.53sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +309.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712697 ms (missed cycles : 3).[0m +310.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241730 ms (missed cycles : 4).[0m +311.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749127 ms (missed cycles : 2).[0m +312.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827795 ms (missed cycles : 2).[0m +313.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318902 ms (missed cycles : 4).[0m +314.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183984 ms (missed cycles : 3).[0m +314.53sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784639567.96645689 seconds +315.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784639568.55415058 seconds. +315.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.438841 ms (missed cycles : 4).[0m +315.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784639569.20555854 seconds +316.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784639569.75294733 seconds. +316.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139510 ms (missed cycles : 4).[0m +316.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784639570.30310678 seconds +317.10sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +317.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.860289 ms (missed cycles : 6).[0m +318.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612502 ms (missed cycles : 3).[0m +319.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.840255 ms (missed cycles : 5).[0m +320.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278179 ms (missed cycles : 2).[0m +321.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433094 ms (missed cycles : 3).[0m +322.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832699 ms (missed cycles : 2).[0m +322.81sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.82sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.83sERRORweb_video_server-33process[web_video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.83sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.84sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] +322.87sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.87sERRORweb_video_auth_proxy-35process has died [pid 9424, 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']. +322.87sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.88sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.88sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] +322.90sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.90sERRORweb_bridge_auth_proxy-34process has died [pid 9422, 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']. +322.90sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.91sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.91sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.92sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.92sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.93sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.93sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.94sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.94sERRORfixed_lag_smoother_node-8process[fixed_lag_smoother_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.94sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.95sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.95sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.96sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.96sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.97sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.97sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +322.97sINFOweb_video_server-33sending signal 'SIGTERM' to process[web_video_server-33] +323.00sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] +323.02sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] +323.05sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] +323.07sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] +323.10sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] +323.12sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system +323.12sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] +323.15sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] +323.18sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] +323.21sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] +323.24sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] +323.26sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] +323.28sINFOweb_video_server-33process has finished cleanly [pid 9421] +323.29sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] +323.31sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9420] +323.33sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] +323.36sINFOfixed_lag_smoother_node-8sending signal 'SIGTERM' to process[fixed_lag_smoother_node-8] +323.36sERRORui_teleop_bridge-30process has died [pid 9418, 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_50eveis3']. +323.38sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +323.38sERRORmove_group-21process has died [pid 9379, 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_vow848lt --params-file /tmp/launch_params_t7b92pur --params-file /tmp/launch_params_e4bs5zyb --params-file /tmp/launch_params_w1gfuyyq --params-file /tmp/launch_params_gtduseif --params-file /tmp/launch_params_wcg96wv7']. +323.41sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +323.41sINFOcomponent_container_mt-28process has finished cleanly [pid 9416] +323.43sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +323.45sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] +323.45sINFOexecute_objective_bridge-29process has finished cleanly [pid 9417] +323.47sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] +323.49sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +323.51sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +323.51sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +323.51sERRORobjective_server_node_main-26process has died [pid 9414, 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_bxt6_oig --params-file /tmp/launch_params_4qs26thr --params-file /tmp/launch_params_vnpnol08 --params-file /tmp/launch_params_eineph5v --params-file /tmp/launch_params_evaztch9 --params-file /tmp/launch_params_5hr6bgoj --params-file /tmp/launch_params_4eux_ibt --params-file /tmp/launch_params_1z7dj89q --params-file /tmp/launch_params_9r_zc9u9']. +323.52sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +323.52sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +323.52sERRORui_teleop_bridgeTraceback (most recent call last): +323.52sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +323.52sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +323.52sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.52sINFOui_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 +323.52sINFOui_teleop_bridgerclpy.shutdown() +323.52sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +323.52sINFOui_teleop_bridge_shutdown(context=context) +323.52sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +323.52sINFOui_teleop_bridgecontext.shutdown() +323.52sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +323.52sINFOui_teleop_bridgeself.__context.shutdown() +323.52sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +323.52sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +323.52sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +323.52sINFOobjective_server_node[0;m[0m[INFO] [2026-07-21 13:12:56.590] signal_handler(SIGINT/SIGTERM)[0m +323.52sINFOcomponent_container_mtStopping planning scene monitor[0m +323.52sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +323.53sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +323.53sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +323.53sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +323.53sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system +323.53sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +323.53sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +323.53sERRORmove_groupwhat(): context cannot be slept with because it's invalid +323.53sERRORmove_groupStack trace (most recent call last) in thread 10022: +323.53sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +323.53sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f45839d9a63, in __clone +323.53sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f458394caa3, in +323.53sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4583bdedb3, in +323.53sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f4584321b17, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +323.53sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4583f514d0, in rclcpp::Rate::sleep() +323.53sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4583ea4a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +323.53sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4583e69a71, in +323.53sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4583bad390, in __cxa_throw +323.53sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4583b97a54, in std::terminate() +323.53sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4583bad0d9, in +323.53sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4583b97ff4, in +323.53sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f45838d88fe, in abort +323.53sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f45838f527d, in raise +323.53sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f458394eb2c, in pthread_kill +323.53sERRORmove_groupAborted (Signal sent by tkill() 9379 0) +323.53sINFOobjective_server_node[2026-07-21 13:12:56.762] [moveit_pro_license] [info] +323.53sINFOobjective_server_node* Application has successfully terminated +323.53sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +323.53sINFOros2_control_nodeShutdown request received....[0m +323.53sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +323.54sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +323.54sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +323.54sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +323.54sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +323.54sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +323.54sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +323.54sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +323.54sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +323.54sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +323.54sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +323.54sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +323.54sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +323.54sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +323.54sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +323.54sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +323.54sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +323.54sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +323.54sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +323.54sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +323.54sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +323.54sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +323.54sINFOros2_control_nodeShutting down the controller manager.[0m +323.54sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +323.54sERRORobjective_server_nodeStack trace (most recent call last): +323.54sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +323.54sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a81d4df6a4, in _start +323.54sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efedb84028a, in __libc_start_main +323.54sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efedb8401d0, in +323.54sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efedb85dbbd, in exit +323.54sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efedb85da75, in +323.54sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7efedbd2c8f5, in spdlog::details::registry::~registry() +323.54sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a81d4dfd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +323.54sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a81d4e6315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +323.54sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a81d4e55a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +323.54sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a81d4e1b7b, in spdlog_ros::RosSink::~RosSink() +323.54sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a81d4dfd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +323.54sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efedc3e2454, in rclcpp::Node::~Node() +323.54sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efedc39d515, in +323.54sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efedc3e0d20, in +323.54sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efedc3e0c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +323.54sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efedc39d5d9, in +323.54sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efedc3a2161, in rclcpp::CallbackGroup::~CallbackGroup() +323.54sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7efe8b38f160]) +323.54sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +323.55sERRORodom_qos_relay.pyTraceback (most recent call last): +323.55sINFOodom_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> +323.55sINFOodom_qos_relay.pymain() +323.55sINFOodom_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 +323.55sINFOodom_qos_relay.pyrclpy.spin(node) +323.55sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +323.55sINFOodom_qos_relay.pyexecutor.spin_once() +323.55sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +323.55sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +323.55sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +323.55sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +323.55sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.55sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +323.55sINFOodom_qos_relay.pyreturn next(self._cb_iter) +323.55sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +323.55sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +323.55sINFOodom_qos_relay.pyraise ExternalShutdownException() +323.55sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +323.55sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m +323.55sERRORodom_world_drift.pyTraceback (most recent call last): +323.55sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 135, in <module> +323.55sINFOodom_world_drift.pymain() +323.55sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 126, in main +323.55sINFOodom_world_drift.pyrclpy.spin(node) +323.55sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +323.55sINFOodom_world_drift.pyexecutor.spin_once() +323.55sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +323.55sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) +323.55sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +323.55sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( +323.55sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.55sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +323.55sINFOodom_world_drift.pyreturn next(self._cb_iter) +323.55sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ +323.55sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks +323.55sINFOodom_world_drift.pywait_set = _rclpy.WaitSet( +323.55sINFOodom_world_drift.py^^^^^^^^^^^^^^^ +323.55sINFOodom_world_drift.pyrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 +323.55sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m +323.55sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system +323.56sINFOros2_control_nodeAsync messages lost 0[0m ×2 +323.56sINFOros2_control_nodepublish_async_failures_ 4[0m +323.56sINFOros2_control_nodepublish_async_failures_ 1[0m +324.05sERRORcomponent_container_isolated-1process has died [pid 9282, 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_0urmll_p --params-file /tmp/launch_params_59_6nd9r -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +324.24sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9413] +324.27sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9412] +324.34sINFOparameter_manager_node-22process has finished cleanly [pid 9380] +324.35sINFOwaypoint_manager_node-23process has finished cleanly [pid 9381] +324.40sINFOcomponent_container_mt-27process has finished cleanly [pid 9415] +324.43sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9288] +324.45sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9287] +324.47sINFOfixed_lag_smoother_node-8process has finished cleanly [pid 9289] +324.49sINFOslip_aware_odom-4process has finished cleanly [pid 9285] +324.52sERRORodom_qos_relay.py-5process has died [pid 9286, 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']. +324.53sINFOstatic_transform_publisher-2process has finished cleanly [pid 9283] +325.55sERRORodom_world_drift.py-3process has died [pid 9284, 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 --params-file /tmp/launch_params_a4upzm_5']. +326.06sINFOweb_bridge-31process has finished cleanly [pid 9419] +326.06sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system +326.17sINFOros2_control_node-9process has finished cleanly [pid 9290] +334.12sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-21-13-13-04-338924-64d5307f5f3f-13095 ×2 +346.91sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' +346.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +346.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +346.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +346.98sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +347.00sINFOstate_estimatorReceived a set_pose request (stamp: 1784639600433884650, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +347.02sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +347.04sINFOcontroller_serverCreating controller server +347.05sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +347.05sINFOcontroller_managerupdate rate is 600 Hz +347.05sINFOcontroller_managerOverruns handling is : enabled +347.05sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +347.05sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +347.07sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +347.07sINFOlocal_costmap.local_costmapCreating Costmap +347.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.430117 ms (missed cycles : 6). +347.10sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. +347.13sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +347.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +347.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +347.17sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +347.20sINFOros2_control_node-9process started with pid [13153] ×2 +347.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +347.21sINFOmove_group-21process started with pid [13250] ×2 +347.21sINFOparameter_manager_node-22process started with pid [13251] ×2 +347.21sINFOwaypoint_manager_node-23process started with pid [13252] ×2 +347.21sINFOmove_joint_resampler_node-24process started with pid [13274] ×2 +347.21sINFOmove_end_effector_resampler_node-25process started with pid [13275] ×2 +347.21sINFOobjective_server_node_main-26process started with pid [13276] ×2 +347.21sINFOcomponent_container_mt-27process started with pid [13279] ×2 +347.21sINFOcomponent_container_mt-28process started with pid [13280] ×2 +347.21sINFOexecute_objective_bridge-29process started with pid [13282] ×2 +347.21sINFOui_teleop_bridge-30process started with pid [13283] ×2 +347.21sINFOweb_bridge-31process started with pid [13284] ×2 +347.21sINFOtf2_web_republisher_node-32process started with pid [13285] ×2 +347.21sINFOweb_video_server-33process started with pid [13286] ×2 +347.21sINFOweb_bridge_auth_proxy-34process started with pid [13287] ×2 +347.21sINFOweb_video_auth_proxy-35process started with pid [13288] ×2 +347.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +347.22sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +347.23sINFOcomponent_container_isolated-1process started with pid [13145] ×2 +347.23sINFOstatic_transform_publisher-2process started with pid [13146] ×2 +347.23sINFOodom_world_drift.py-3process started with pid [13147] ×2 +347.23sINFOslip_aware_odom-4process started with pid [13148] ×2 +347.23sINFOodom_qos_relay.py-5process started with pid [13149] ×2 +347.23sINFOscan_to_scan_filter_chain-6process started with pid [13150] ×2 +347.23sINFOscan_to_scan_filter_chain-7process started with pid [13151] ×2 +347.23sINFOfixed_lag_smoother_node-8process started with pid [13152] ×2 +347.23sINFOros2-10process started with pid [13232] ×2 +347.24sINFOros2-11process started with pid [13233] ×2 +347.24sINFOros2-12process started with pid [13236] ×2 +347.24sINFOros2-13process started with pid [13237] ×2 +347.24sINFOros2-14process started with pid [13239] ×2 +347.24sINFOros2-15process started with pid [13242] ×2 +347.24sINFOros2-16process started with pid [13243] ×2 +347.24sINFOros2-17process started with pid [13244] ×2 +347.24sINFOros2-18process started with pid [13245] ×2 +347.24sINFOros2-19process started with pid [13247] ×2 +347.24sINFOros2-20process started with pid [13248] ×2 +347.26sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +347.35sINFOsmoother_serverCreating smoother server +347.36sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +347.36sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +347.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.430117 ms (missed cycles : 6).[0m ×2 +347.38sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +347.39sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +347.41sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +347.43sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +347.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +347.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +347.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +347.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +347.48sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +347.48sINFOmap_serverCreating +347.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +347.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +347.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +347.52sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +347.54sINFOcontroller_managerReceived robot description from topic. +347.54sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +347.54sINFOrobot_state_publisherRobot initialized +347.57sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +347.59sINFOplanner_serverCreating +347.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +347.63sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +347.63sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +347.65sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +347.67sINFOglobal_costmap.global_costmapCreating Costmap +347.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +347.72sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +347.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +347.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +347.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +347.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +347.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +347.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +347.83sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +347.83sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +347.83sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +347.83sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +347.83sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +347.84sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +347.84sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +347.84sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +347.84sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 +347.89sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +347.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +347.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +347.92sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +347.93sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +347.93sINFOlifecycle_manager_localizationCreating +347.95sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +347.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +347.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +347.96sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +347.96sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +347.96sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +347.96sINFOmap_serverConfiguring +347.98sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +348.02sINFObt_navigatorCreating +348.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +348.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +348.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +348.07sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +348.07sINFOamclConfiguring +348.08sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +348.08sINFOmap_serverActivating +348.08sINFOmap_serverCreating bond (map_server) to lifecycle manager. +348.09sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +348.10sINFOwaypoint_followerCreating +348.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +348.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +348.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +348.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833115 ms (missed cycles : 4). +348.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833115 ms (missed cycles : 4).[0m ×2 +348.15sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +348.19sINFOlifecycle_manager_navigationCreating +348.19sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +348.19sINFOlifecycle_manager_localizationServer map_server connected with bond. +348.19sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +348.19sINFOamclActivating +348.20sINFOamclSubscribed to initial_pose_topic: /initialpose +348.20sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +348.21sINFOamclSubscribed to map_topic: /map +348.21sINFOamclSubscribed to scan_topic: /scan_merged +348.22sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.342016 seconds +348.22sINFOmove_groupLoaded robot model in 0.342016 seconds[0m ×2 +348.22sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +348.22sINFOamclCreated reinitialize_global_localization service +348.22sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +348.23sINFOamclCreated request_nomotion_update service +348.23sINFOamclA new map was received +348.23sINFOamclInitializing particle filter instance +348.24sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +348.24sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +348.24sINFOcontroller_serverConfiguring controller interface +348.24sINFOcontroller_servergetting progress checker plugins.. +348.24sINFOcontroller_servergetting goal checker plugins.. +348.24sINFOcontroller_serverController frequency set to 20.0000Hz +348.24sINFOlocal_costmap.local_costmapConfiguring +348.26sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +348.27sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +348.31sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +348.31sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +348.31sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +348.35sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +348.36sINFOcontroller_serverController Server has progress_checker progress checkers available. +348.36sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +348.36sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +348.36sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +348.39sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +348.40sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +348.40sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +348.42sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +348.42sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +348.42sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +348.42sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +348.43sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +348.43sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +348.43sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +348.44sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +348.44sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +348.45sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +348.45sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +348.45sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +348.45sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +348.45sINFOcontroller_serverOptimizer reset +348.46sINFOcontroller_serverController Server has FollowPath controllers available. +348.47sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +348.47sINFOsmoother_serverConfiguring smoother server +348.50sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +348.52sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +348.53sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +348.53sINFOplanner_serverConfiguring +348.53sINFOglobal_costmap.global_costmapConfiguring +348.56sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +348.57sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +348.57sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +348.57sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +348.57sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +348.61sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +348.61sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +348.62sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +348.65sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner +348.65sINFOplanner_serverCleaning up +348.65sINFOglobal_costmap.global_costmapCleaning up +348.65sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +348.73sINFOwaypoint_manager_nodeLoaded robot model in 0.393222 seconds[0m ×2 +348.73sINFOamclParticle filter initialization completed +348.73sINFOamclInitializing particles from estimated pose and covariance +348.73sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 +348.73sINFOamclThe bond connection to the lifecycle manager is now fully formed +348.74sINFOlifecycle_manager_localizationServer amcl connected with bond. +348.74sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +348.74sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +348.74sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +348.74sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +348.90sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +348.90sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.92sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.92sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.93sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.94sWARNmove_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. +349.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155618 ms (missed cycles : 4). +349.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155618 ms (missed cycles : 4).[0m ×2 +349.33sINFOmove_group[2026-07-21 13:13:22.764] [moveit_pro_license] [info] ×2 +349.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +349.57sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +349.57sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +349.66sINFOwaypoint_manager_node[2026-07-21 13:13:23.094] [moveit_pro_license] [info] ×2 +349.70sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +349.70sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +349.71sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +349.71sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +349.71sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +349.71sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +349.71sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +349.72sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +349.72sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +349.72sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +349.72sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +350.27sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +350.27sINFOcontroller_managerActivating component 'ur_mujoco_control'. +350.27sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +350.27sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +350.31sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +350.31sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +350.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +350.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +350.46sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 +350.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 [0m ×2 +350.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676885 ms (missed cycles : 3). +350.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676885 ms (missed cycles : 3).[0m ×2 +350.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +350.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +350.55sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +350.55sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +350.55sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +350.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +350.56sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +350.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +350.66sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +350.66sINFOobjective_server_node[2026-07-21 13:13:24.094] [moveit_pro_license] [info] ×2 +350.68sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +350.68sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +350.69sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +350.69sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) +350.70sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +350.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +350.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +350.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +350.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +350.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +350.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +350.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +350.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +350.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +350.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +350.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +350.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +350.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +350.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +350.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +350.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +350.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +350.70sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +350.74sINFOobjective_server_nodeLoaded robot model in 0.0294931 seconds[0m ×2 +350.75sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +350.88sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +350.88sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +350.88sINFOcontroller_managerLoading controller 'joint_velocity_controller' +350.89sINFOros2-16process has finished cleanly [pid 13243] ×2 +350.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +350.95sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +350.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +350.96sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +351.00sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) +351.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 +351.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 [0m ×2 +351.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +351.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +351.13sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +351.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.35sINFOmove_groupMoveGroup debug mode is ON +351.44sINFOcomponent_container_mtLoaded robot model in 0.467242 seconds[0m ×2 +351.47sINFOros2_control_node[2026-07-21 13:13:24.903] [info] Controller state will be published at 20 Hz. ×2 +351.47sINFOros2_control_node[2026-07-21 13:13:24.904] [info] JointVelocityController 'on_configure' succeeded. ×2 +351.51sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784639603.838 for reason 'discarding message because the queue is full' +351.54sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+351.55sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +351.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347895 ms (missed cycles : 3). +351.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347895 ms (missed cycles : 3).[0m ×2 +351.85sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.85sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.85sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.85sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.85sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.85sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.85sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +351.85sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.85sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.86sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.86sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.86sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.86sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.87sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +351.87sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +351.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.88sINFOros2-19process has finished cleanly [pid 13247] ×2 +351.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.98sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 +351.98sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 [0m ×2 +352.01sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +352.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +352.13sINFOcomponent_container_mt[2026-07-21 13:13:25.567] [moveit_pro_license] [info] ×2 +352.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069055 ms (missed cycles : 2). +352.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069055 ms (missed cycles : 2).[0m ×2 +352.63sINFOros2_control_node[2026-07-21 13:13:26.064] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +352.63sINFOros2_control_node[2026-07-21 13:13:26.068] [info] Controller state will be published at 10 Hz. ×2 +352.63sINFOros2_control_node[2026-07-21 13:13:26.070] [info] VelocityForceController 'on_configure' succeeded. ×2 +352.96sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +352.96sINFOcontroller_managerLoading controller 'vacuum_gripper' +352.97sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 +352.97sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 [0m ×2 +352.99sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +353.00sINFOros2-18process has finished cleanly [pid 13245] ×2 +353.04sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +353.04sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +353.04sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +353.04sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +353.05sINFOcontroller_managerSuccessfully switched controllers! ×8 +353.05sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +353.38sINFOros2-14process has finished cleanly [pid 13239] ×2 +353.39sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +353.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406907 ms (missed cycles : 3). +353.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406907 ms (missed cycles : 3).[0m ×2 +353.65sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +353.65sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +353.65sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 +353.66sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 [0m ×2 +353.68sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +353.69sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +354.04sINFOros2_control_node[2026-07-21 13:13:27.477] [info] Controller state will be published at 20 Hz. ×2 +354.04sINFOros2_control_node[2026-07-21 13:13:27.478] [info] JointVelocityController 'on_configure' succeeded. ×2 +354.11sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784639606.438 for reason 'discarding message because the queue is full' +354.38sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +354.38sINFOcontroller_managerLoading controller 'velocity_force_controller' +354.38sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 +354.38sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 [0m ×2 +354.42sINFOros2-20process has finished cleanly [pid 13248] ×2 +354.45sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +354.46sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +354.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.152380 ms (missed cycles : 5). +354.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.152380 ms (missed cycles : 5).[0m ×2 +354.80sINFOros2_control_node[2026-07-21 13:13:28.234] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +354.80sINFOros2_control_node[2026-07-21 13:13:28.237] [info] Controller state will be published at 10 Hz. ×2 +354.80sINFOros2_control_node[2026-07-21 13:13:28.238] [info] VelocityForceController 'on_configure' succeeded. ×2 +355.16sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +355.16sINFOcontroller_managerLoading controller 'platform_velocity_controller' +355.16sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 +355.16sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 [0m ×2 +355.17sINFOros2-17process has finished cleanly [pid 13244] ×2 +355.23sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +355.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +355.24sINFOplatform_velocity_controllerconfigure successful +355.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +355.25sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +355.56sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +355.56sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +355.57sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 +355.57sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 [0m ×2 +355.60sINFOros2-13process has finished cleanly [pid 13237] ×2 +355.64sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +355.64sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +355.64sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +355.64sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +355.64sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +355.66sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +355.66sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +355.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691684 ms (missed cycles : 2). +355.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691684 ms (missed cycles : 2).[0m ×2 +355.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 1.976ms +355.98sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +355.98sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +355.98sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 +355.98sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 [0m ×2 +356.04sINFOros2-12process has finished cleanly [pid 13236] ×2 +356.05sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +356.05sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +356.06sINFOplatform_velocity_controller_nav2configure successful +356.46sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +356.46sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +356.46sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 +356.47sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 [0m ×2 +356.47sINFOros2-15process has finished cleanly [pid 13242] ×2 +356.54sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +356.54sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +356.55sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +356.55sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +356.72sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784639609.038 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +356.76sWARNstate_estimatorOptimization exceeded the configured duration by 52329139ns +356.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125608 ms (missed cycles : 4). +356.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125608 ms (missed cycles : 4).[0m ×2 +356.93sINFOros2-11process has finished cleanly [pid 13233] ×2 +356.95sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +356.96sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +356.96sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +356.96sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 +356.96sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dbl4n5bn --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_7g1b_bvs --params-file /tmp/launch_params_s64y6_d2 [0m ×2 +357.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +357.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +357.01sINFOforce_torque_sensor_broadcasterconfigure successful +357.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +357.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +357.52sINFOros2-10process has finished cleanly [pid 13232] ×2 +357.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678484 ms (missed cycles : 3). +357.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678484 ms (missed cycles : 3).[0m ×2 +358.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6). +358.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6).[0m ×2 +359.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2). +359.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2).[0m ×2 +360.32sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +360.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). +360.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 +361.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). +361.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 +362.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 +362.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +362.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +362.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 +362.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). +362.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 +362.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 +362.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 +363.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 +363.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 +363.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). +363.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 +364.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 +364.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +364.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +364.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +364.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +364.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +364.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +364.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 +364.84sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 +364.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +364.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +364.97sINFOcontroller_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 | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 5.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.96sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 5.45sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 7.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 5.45sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[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 8.610996 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 5.45sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2).[0m ×2 + 0.49sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 5.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 5.45sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 5.45sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610996 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799216 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 5.45sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 22 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670649 ms (missed cycles : 6). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670649 ms (missed cycles : 6).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.58% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306271 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485681 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784639615.77748418 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784639615.78768253 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.226506 ms (missed cycles : 7).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784639616.35103965 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784639616.36120296 seconds ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784639616.92293215 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784639617.07362318 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817569 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784639617.66408515 seconds. ×3 + 3.92sINFOobjective_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 + 3.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784639617.73425031 seconds ×3 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784639618.28188276 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797291 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730070 ms (missed cycles : 3).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNstate_estimatorOptimization exceeded the configured duration by 82751030ns | ||||