69
Total objective tests
15
Objectives passed
2
Objectives failed
52
Objectives skipped
19.6s
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 | 34.6s | 6 errors · 124 warnings · 207 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.496ms + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.116ms + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.521282 ms (missed cycles : 7). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.521282 ms (missed cycles : 7).[0m ×2 + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.544ms + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.708ms + 1.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.944ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.575872 ms (missed cycles : 6). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.575872 ms (missed cycles : 6).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.626ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499316 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499316 ms (missed cycles : 3).[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.221ms + 3.56sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.56sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.60sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784819748.58403134 seconds ×3 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198926 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198926 ms (missed cycles : 5).[0m ×2 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 4.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784819749.14502621 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.316ms + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 4.53sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 4.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.255ms + 4.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.199ms + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.069548 ms (missed cycles : 6). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.069548 ms (missed cycles : 6).[0m ×2 + 4.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.544ms + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 5.84sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.88sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.88sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762562 ms (missed cycles : 3). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762562 ms (missed cycles : 3).[0m ×2 + 6.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.372ms + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms ×3 + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.729ms + 6.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139572 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139572 ms (missed cycles : 3).[0m ×2 + 7.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.002ms ×2 + 7.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.627ms + 7.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.298ms + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.260087 ms (missed cycles : 7). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.260087 ms (missed cycles : 7).[0m ×2 + 8.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.334ms + 8.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950775 ms (missed cycles : 3). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950775 ms (missed cycles : 3).[0m ×2 + 9.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 9.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.636ms + 9.73sWARNstate_estimatorOptimization exceeded the configured duration by 91002873ns + 9.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.687ms + 9.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.929ms + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932572 ms (missed cycles : 3). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932572 ms (missed cycles : 3).[0m ×2 + 10.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 10.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 10.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.580ms + 10.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912488 ms (missed cycles : 3). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912488 ms (missed cycles : 3).[0m ×2 + 11.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.457ms + 11.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.828ms + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms ×2 + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069115 ms (missed cycles : 2). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069115 ms (missed cycles : 2).[0m ×2 + 12.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.562ms + 12.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.737ms + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.362ms + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.099ms + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994922 ms (missed cycles : 2). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994922 ms (missed cycles : 2).[0m ×2 + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.133ms + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.478ms + 13.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 14.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.665ms + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881652 ms (missed cycles : 3). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881652 ms (missed cycles : 3).[0m ×2 + 14.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.258ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 14.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912339 ms (missed cycles : 3). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912339 ms (missed cycles : 3).[0m ×2 + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.543ms + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms ×2 + 15.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 15.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.403ms + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397991 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397991 ms (missed cycles : 2).[0m ×2 + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.029ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 17.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.609ms + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284275 ms (missed cycles : 2). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284275 ms (missed cycles : 2).[0m ×2 + 17.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.428ms + 17.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.956ms ×2 + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms ×2 + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.460ms + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836052 ms (missed cycles : 5). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836052 ms (missed cycles : 5).[0m ×2 + 18.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 18.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.875ms ×2 + 18.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.689ms + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.885ms + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305328 ms (missed cycles : 4). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305328 ms (missed cycles : 4).[0m ×2 + 19.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 19.73sWARNstate_estimatorOptimization exceeded the configured duration by 95431475ns + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.418ms + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.651ms + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483071 ms (missed cycles : 3). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483071 ms (missed cycles : 3).[0m ×2 + 20.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.497ms + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.884ms + 21.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.018ms + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170759 ms (missed cycles : 3). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170759 ms (missed cycles : 3).[0m ×2 + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.218ms + 21.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.205ms + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.821ms + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755936 ms (missed cycles : 3). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755936 ms (missed cycles : 3).[0m ×2 + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.955ms + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.697ms + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.264ms ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.213ms + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.757ms + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838586 ms (missed cycles : 3). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838586 ms (missed cycles : 3).[0m ×2 + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.998ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.968ms + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.916ms + 24.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.902ms ×2 + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022729 ms (missed cycles : 4). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022729 ms (missed cycles : 4).[0m ×2 + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.114ms + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 25.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.723ms + 25.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793850 ms (missed cycles : 2). + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793850 ms (missed cycles : 2).[0m ×2 + 25.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.616ms + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.745ms + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.368ms + 26.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.599ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.790ms + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065842 ms (missed cycles : 3). + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065842 ms (missed cycles : 3).[0m ×2 + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 26.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.061ms + 27.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.243ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.932ms + 27.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994153 ms (missed cycles : 3). + 27.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994153 ms (missed cycles : 3).[0m ×2 + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms ×2 + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 28.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.972203 ms (missed cycles : 5). + 28.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.972203 ms (missed cycles : 5).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.855ms + 29.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.837ms + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.914ms + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202770 ms (missed cycles : 5). + 29.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202770 ms (missed cycles : 5).[0m ×2 + 29.82sWARNstate_estimatorOptimization exceeded the configured duration by 85865633ns + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.879ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 30.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.340ms + 30.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835671 ms (missed cycles : 6). + 30.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835671 ms (missed cycles : 6).[0m ×2 + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.430ms + 31.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.633ms + 31.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.233ms + 31.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.960ms + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923962 ms (missed cycles : 2). + 31.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923962 ms (missed cycles : 2).[0m ×2 + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.867ms + 32.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.942ms + 32.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373375 ms (missed cycles : 2). + 32.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373375 ms (missed cycles : 2).[0m ×2 + 33.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 33.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928439 ms (missed cycles : 2). + 33.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928439 ms (missed cycles : 2).[0m ×2 + 34.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.129919 ms (missed cycles : 6). + 34.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.129919 ms (missed cycles : 6).[0m ×2 + 35.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672234 ms (missed cycles : 4). + 35.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672234 ms (missed cycles : 4).[0m ×2 + 36.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143117 ms (missed cycles : 5). + 36.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143117 ms (missed cycles : 5).[0m ×2 + 37.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143831 ms (missed cycles : 2). + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143831 ms (missed cycles : 2).[0m ×2 + 38.01sINFOros2_control_nodeMuJoCo sim: 1.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 38.20sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 5 seconds. ×3 + 38.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784819783.18523860 seconds ×3 + 38.48sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.506ms + 38.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.861ms + 38.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899751 ms (missed cycles : 2). + 38.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899751 ms (missed cycles : 2).[0m ×2 + 38.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.147ms + 38.90sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784819783.88496900 seconds. ×3 + 39.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.438ms + 39.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.942ms + 39.27sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 39.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.753ms + 39.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.128ms + 39.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.877ms + 39.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.243ms + 39.88sWARNstate_estimatorOptimization exceeded the configured duration by 45489986ns + 39.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905862 ms (missed cycles : 2). + 39.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905862 ms (missed cycles : 2).[0m ×2 + 39.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.659ms + 39.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.038ms + 40.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.085ms + 40.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.250ms + 40.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.734ms + 40.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.947ms + 40.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.625ms + 40.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799759 ms (missed cycles : 2). + 40.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799759 ms (missed cycles : 2).[0m ×2 + 41.18sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.456ms | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 30.8s | 9 errors · 115 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775871 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775871 ms (missed cycles : 5).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.179ms + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.777ms + 0.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.991ms ×2 + 0.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.118ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892573 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892573 ms (missed cycles : 3).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.628ms + 1.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.329ms + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.644ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516930 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516930 ms (missed cycles : 2).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.962ms + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 2.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 2.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.250ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964103 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964103 ms (missed cycles : 2).[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.241ms + 3.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.082ms + 3.85sINFOjoint_trajectory_controllerGot request to cancel goal + 3.85sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.85sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784819793.97652602 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537248 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537248 ms (missed cycles : 4).[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.100ms + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 4.45sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784819794.53074050 seconds. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.260ms + 4.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.411ms + 4.81sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.86sWARNstate_estimatorOptimization exceeded the configured duration by 23554783ns + 4.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.332ms + 5.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.520ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469374 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469374 ms (missed cycles : 2).[0m ×2 + 5.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.635ms + 5.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.860ms + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.263ms + 5.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.522ms + 6.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 6.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358773 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358773 ms (missed cycles : 3).[0m ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.26sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.26sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.144ms + 6.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.268ms + 6.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.449ms ×2 + 7.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.854ms + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233142 ms (missed cycles : 5). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233142 ms (missed cycles : 5).[0m ×2 + 7.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.718ms + 7.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.001ms + 7.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.927ms + 7.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.043ms + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891584 ms (missed cycles : 3). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891584 ms (missed cycles : 3).[0m ×2 + 8.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.706ms + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.807360 ms (missed cycles : 6). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.807360 ms (missed cycles : 6).[0m ×2 + 9.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.019ms + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.386ms + 9.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.824ms + 9.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.939ms + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128713 ms (missed cycles : 3). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128713 ms (missed cycles : 3).[0m ×2 + 10.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.803ms + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.887ms ×2 + 11.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.601964 ms (missed cycles : 5). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.601964 ms (missed cycles : 5).[0m ×2 + 11.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 11.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.085ms + 11.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.314ms + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.384ms + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177316 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177316 ms (missed cycles : 2).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 12.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 12.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.255ms + 13.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972234 ms (missed cycles : 2). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972234 ms (missed cycles : 2).[0m ×2 + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms ×2 + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.035ms + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.681ms + 14.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824092 ms (missed cycles : 3). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824092 ms (missed cycles : 3).[0m ×2 + 14.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 14.96sWARNstate_estimatorOptimization exceeded the configured duration by 20704543ns + 14.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.562ms + 15.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.295ms + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897058 ms (missed cycles : 2). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897058 ms (missed cycles : 2).[0m ×2 + 15.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 15.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 16.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 16.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.844ms + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582623 ms (missed cycles : 3). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582623 ms (missed cycles : 3).[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.439ms + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.536ms + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.278ms + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.491ms + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747313 ms (missed cycles : 3). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747313 ms (missed cycles : 3).[0m ×2 + 17.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.809ms + 18.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.249ms + 18.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107509 ms (missed cycles : 4). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107509 ms (missed cycles : 4).[0m ×2 + 18.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.727ms + 18.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.355ms + 19.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.311ms + 19.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.960035 ms (missed cycles : 6). + 19.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.960035 ms (missed cycles : 6).[0m ×2 + 19.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 20.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.324ms + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 20.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615425 ms (missed cycles : 4). + 20.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615425 ms (missed cycles : 4).[0m ×2 + 20.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.961ms + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.345ms + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.811ms ×2 + 21.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972994 ms (missed cycles : 2). + 21.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972994 ms (missed cycles : 2).[0m ×2 + 21.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.544ms + 22.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms ×2 + 22.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.621ms + 22.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.376ms + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014157 ms (missed cycles : 2). + 22.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014157 ms (missed cycles : 2).[0m ×2 + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.072ms + 23.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.462ms + 23.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.968ms + 23.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.213ms + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254071 ms (missed cycles : 2). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254071 ms (missed cycles : 2).[0m ×2 + 23.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.308ms + 24.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.535ms + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.598ms + 24.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.534ms + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812317 ms (missed cycles : 3). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812317 ms (missed cycles : 3).[0m ×2 + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.681ms + 25.00sWARNstate_estimatorOptimization exceeded the configured duration by 59119326ns + 25.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 25.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.651ms + 25.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.719ms + 25.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410140 ms (missed cycles : 4). + 25.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410140 ms (missed cycles : 4).[0m ×2 + 26.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.540ms + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571204 ms (missed cycles : 2). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571204 ms (missed cycles : 2).[0m ×2 + 27.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.816ms + 27.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.712ms + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.938ms ×2 + 27.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058864 ms (missed cycles : 2). + 27.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058864 ms (missed cycles : 2).[0m ×2 + 28.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.860ms + 28.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.595ms + 28.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.930ms + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.812ms + 28.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 29.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545146 ms (missed cycles : 2). + 29.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545146 ms (missed cycles : 2).[0m ×2 + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 29.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.763ms + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781825 ms (missed cycles : 3). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781825 ms (missed cycles : 3).[0m ×2 + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.845ms + 30.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.911ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.689ms + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 31.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7). + 31.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7).[0m ×2 + 31.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.589ms + 31.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.689ms + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.954ms + 31.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4).[0m ×2 + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 32.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 33.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.647ms + 33.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6). + 33.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6).[0m ×2 + 33.59sINFOjoint_trajectory_controllerGoal reached, success! + 33.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 34.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6). + 34.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6).[0m ×2 + 34.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.665ms + 34.68sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 34.69sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 34.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784819824.77096510 seconds ×3 + 34.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 34.98sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.830ms + 35.03sWARNstate_estimatorOptimization exceeded the configured duration by 95855312ns + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4). + 35.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4).[0m ×2 + 35.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.317ms + 35.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784819825.38997746 seconds. ×3 + 35.38sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.934ms + 35.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.210ms + 35.67sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 35.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.566ms + 36.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.582ms + 36.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.714ms + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2).[0m ×2 + 36.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.783ms + 36.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 14.088ms + 36.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.433ms + 37.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.477ms + 37.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.836ms + 37.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4).[0m ×2 + 37.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.064ms + 37.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.767ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.9s | 190 warnings · 253 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784819651.41567659 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784819651.96607685 seconds. ×3 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688080 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688080 ms (missed cycles : 2).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 1.57sINFOobjective_server_nodeFound path in 0 iterations (2.9042e-05 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.59sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.59sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.59sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.59sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471968 ms (missed cycles : 3). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471968 ms (missed cycles : 3).[0m ×2 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254550 ms (missed cycles : 5). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254550 ms (missed cycles : 5).[0m ×2 + 2.93sWARNstate_estimatorOptimization exceeded the configured duration by 91277738ns + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 3.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784819655.11623001 seconds ×3 + 3.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325967 ms (missed cycles : 4). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325967 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784819655.67317224 seconds. ×3 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 4.64sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.845ms + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916088 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916088 ms (missed cycles : 3).[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427932 ms (missed cycles : 4). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427932 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396286 ms (missed cycles : 3). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396286 ms (missed cycles : 3).[0m ×2 + 7.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 7.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622675 ms (missed cycles : 4). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622675 ms (missed cycles : 4).[0m ×2 + 8.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.874ms + 8.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.822ms ×2 + 8.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931542 ms (missed cycles : 2). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931542 ms (missed cycles : 2).[0m ×2 + 9.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.023ms + 9.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 9.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.140ms + 9.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 10.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.896ms + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064872 ms (missed cycles : 5). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064872 ms (missed cycles : 5).[0m ×2 + 10.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.945ms ×2 + 10.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 10.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.722ms + 10.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 11.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.201ms + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.259004 ms (missed cycles : 7). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.259004 ms (missed cycles : 7).[0m ×2 + 11.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 11.60sINFOros2_control_nodeMuJoCo sim: 0.63% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 12.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.811ms + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758044 ms (missed cycles : 2). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758044 ms (missed cycles : 2).[0m ×2 + 12.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 12.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 12.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 13.01sWARNstate_estimatorOptimization exceeded the configured duration by 65780239ns + 13.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442180 ms (missed cycles : 4). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442180 ms (missed cycles : 4).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.942ms + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms ×2 + 13.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356874 ms (missed cycles : 3). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356874 ms (missed cycles : 3).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.121ms + 14.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 14.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836565 ms (missed cycles : 2). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836565 ms (missed cycles : 2).[0m ×2 + 15.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 15.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.277ms + 16.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.966ms + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.113192 ms (missed cycles : 8). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.113192 ms (missed cycles : 8).[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.051ms + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 17.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.980ms + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919449 ms (missed cycles : 3). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919449 ms (missed cycles : 3).[0m ×2 + 17.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.027ms + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.201ms + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.962ms + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 18.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891303 ms (missed cycles : 6). + 18.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891303 ms (missed cycles : 6).[0m ×2 + 18.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.183ms + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms ×2 + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 19.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556775 ms (missed cycles : 2). + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556775 ms (missed cycles : 2).[0m ×2 + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.339ms + 19.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.192ms + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 20.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902857 ms (missed cycles : 2). + 20.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902857 ms (missed cycles : 2).[0m ×2 + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.056ms + 20.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.216ms + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 21.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.949ms + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.018ms + 21.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430086 ms (missed cycles : 3). + 21.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430086 ms (missed cycles : 3).[0m ×2 + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 21.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.271ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 22.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.864592 ms (missed cycles : 6). + 22.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.864592 ms (missed cycles : 6).[0m ×2 + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 23.01sWARNstate_estimatorOptimization exceeded the configured duration by 70588013ns + 23.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.042ms + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767589 ms (missed cycles : 3). + 23.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767589 ms (missed cycles : 3).[0m ×2 + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 24.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.446ms ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 24.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169911 ms (missed cycles : 2). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169911 ms (missed cycles : 2).[0m ×2 + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.460ms + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.253ms + 25.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.532ms + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182150 ms (missed cycles : 5). + 25.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182150 ms (missed cycles : 5).[0m ×2 + 25.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.452ms + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 26.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.635ms + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.404ms + 26.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151836 ms (missed cycles : 4). + 26.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151836 ms (missed cycles : 4).[0m ×2 + 26.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.206ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 27.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902049 ms (missed cycles : 3). + 27.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902049 ms (missed cycles : 3).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.455ms + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 28.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.145ms + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 28.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941952 ms (missed cycles : 4). + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.547ms + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941952 ms (missed cycles : 4).[0m ×2 + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.092ms + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 29.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.094ms + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.956ms ×2 + 30.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748888 ms (missed cycles : 2). + 30.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748888 ms (missed cycles : 2).[0m ×2 + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 30.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.143ms + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 31.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842512 ms (missed cycles : 3). + 31.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842512 ms (missed cycles : 3).[0m ×2 + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.147ms + 31.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.476ms + 31.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.270ms + 32.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605107 ms (missed cycles : 3). + 32.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605107 ms (missed cycles : 3).[0m ×2 + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 32.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.699ms + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.445ms + 32.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.642ms + 33.02sWARNstate_estimatorOptimization exceeded the configured duration by 73854376ns + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356535 ms (missed cycles : 4). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356535 ms (missed cycles : 4).[0m ×2 + 33.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.892ms + 33.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.089ms + 34.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.479ms + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696452 ms (missed cycles : 2). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696452 ms (missed cycles : 2).[0m ×2 + 34.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.694ms + 34.94sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878154 ms (missed cycles : 3). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878154 ms (missed cycles : 3).[0m ×2 + 36.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951258 ms (missed cycles : 3). + 36.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951258 ms (missed cycles : 3).[0m ×2 + 36.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.506ms + 37.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529091 ms (missed cycles : 4). + 37.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529091 ms (missed cycles : 4).[0m ×2 + 38.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792312 ms (missed cycles : 2). + 38.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792312 ms (missed cycles : 2).[0m ×2 + 38.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.925ms + 39.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.536ms + 39.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408010 ms (missed cycles : 3). + 39.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408010 ms (missed cycles : 3).[0m ×2 + 40.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508013 ms (missed cycles : 3). + 40.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508013 ms (missed cycles : 3).[0m ×2 + 40.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.480ms + 41.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732727 ms (missed cycles : 2). + 41.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732727 ms (missed cycles : 2).[0m ×2 + 41.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.165ms + 42.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 42.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987046 ms (missed cycles : 5). + 42.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987046 ms (missed cycles : 5).[0m ×2 + 43.04sWARNstate_estimatorOptimization exceeded the configured duration by 92004394ns + 43.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874665 ms (missed cycles : 3). + 43.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874665 ms (missed cycles : 3).[0m ×2 + 44.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890717 ms (missed cycles : 3). + 44.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890717 ms (missed cycles : 3).[0m ×2 + 44.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.524ms + 45.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314072 ms (missed cycles : 2). + 45.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314072 ms (missed cycles : 2).[0m ×2 + 45.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.996ms + 46.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693880 ms (missed cycles : 3). + 46.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693880 ms (missed cycles : 3).[0m ×2 + 47.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228158 ms (missed cycles : 2). + 47.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228158 ms (missed cycles : 2).[0m ×2 + 48.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 48.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.864506 ms (missed cycles : 6). + 48.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.864506 ms (missed cycles : 6).[0m ×2 + 49.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 49.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230076 ms (missed cycles : 3). + 49.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230076 ms (missed cycles : 3).[0m ×2 + 50.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760319 ms (missed cycles : 3). + 50.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760319 ms (missed cycles : 3).[0m ×2 + 51.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.519ms + 51.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924470 ms (missed cycles : 5). + 51.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924470 ms (missed cycles : 5).[0m ×2 + 52.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 52.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.074246 ms (missed cycles : 7). + 52.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.074246 ms (missed cycles : 7).[0m ×2 + 53.12sWARNstate_estimatorOptimization exceeded the configured duration by 78446808ns + 53.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.756ms + 53.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577349 ms (missed cycles : 2). + 53.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577349 ms (missed cycles : 2).[0m ×2 + 54.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.852ms + 55.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922294 ms (missed cycles : 3). + 55.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922294 ms (missed cycles : 3).[0m ×2 + 55.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 56.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321550 ms (missed cycles : 2). + 56.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321550 ms (missed cycles : 2).[0m ×2 + 56.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.517ms + 57.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584808 ms (missed cycles : 4). + 57.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584808 ms (missed cycles : 4).[0m ×2 + 57.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 58.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960159 ms (missed cycles : 2). + 58.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960159 ms (missed cycles : 2).[0m ×2 + 59.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 59.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821362 ms (missed cycles : 2). + 59.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821362 ms (missed cycles : 2).[0m ×2 + 59.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 60.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.102ms + 60.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173497 ms (missed cycles : 2). + 60.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173497 ms (missed cycles : 2).[0m ×2 + 60.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784819712.06335664 seconds ×3 + 61.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.804643 ms (missed cycles : 6). + 61.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.804643 ms (missed cycles : 6).[0m ×2 + 61.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784819712.62954664 seconds. ×3 + 61.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 61.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.234ms + 61.59sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 61.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 61.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 61.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.142ms + 62.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.597823 ms (missed cycles : 6). + 62.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.597823 ms (missed cycles : 6).[0m ×2 + 62.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 62.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 63.17sWARNstate_estimatorOptimization exceeded the configured duration by 30250874ns + 63.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.337407 ms (missed cycles : 7). + 63.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.337407 ms (missed cycles : 7).[0m ×2 + 63.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 63.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.2s | 6 errors · 186 warnings · 231 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.589ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.689ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.954ms + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.647ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.69sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.665ms + 3.79sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784819824.77096510 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.830ms + 4.14sWARNstate_estimatorOptimization exceeded the configured duration by 95855312ns + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.317ms + 4.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784819825.38997746 seconds. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.934ms + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.210ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.566ms + 5.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.582ms + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.714ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.783ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 14.088ms + 5.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.433ms + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.477ms + 6.10sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.11sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.11sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.836ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.064ms + 6.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.767ms + 6.90sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 4.404ms + 6.98sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 2.364ms + 7.08sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 2.414ms + 7.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.057ms + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837899 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837899 ms (missed cycles : 3).[0m ×2 + 7.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 7.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.645ms + 7.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318289 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318289 ms (missed cycles : 2).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 9.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 9.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632470 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632470 ms (missed cycles : 3).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.071ms + 9.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 9.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.745ms + 10.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.034ms + 10.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669390 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669390 ms (missed cycles : 2).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.398ms + 10.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.940ms + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.089ms + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875850 ms (missed cycles : 3). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875850 ms (missed cycles : 3).[0m ×2 + 11.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.214ms + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.381ms + 12.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.181ms + 12.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 12.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259978 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259978 ms (missed cycles : 2).[0m ×2 + 12.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 13.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms ×2 + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.870ms + 13.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912302 ms (missed cycles : 3). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912302 ms (missed cycles : 3).[0m ×2 + 13.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 14.25sWARNstate_estimatorOptimization exceeded the configured duration by 106026192ns + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.058ms + 14.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947737 ms (missed cycles : 3). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947737 ms (missed cycles : 3).[0m ×2 + 14.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.184ms + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.001ms + 15.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.518ms + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079615 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079615 ms (missed cycles : 2).[0m ×2 + 15.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms ×2 + 16.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 16.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.679260 ms (missed cycles : 7). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.679260 ms (missed cycles : 7).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 16.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.976ms + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117883 ms (missed cycles : 5). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117883 ms (missed cycles : 5).[0m ×2 + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.030ms + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616191 ms (missed cycles : 3). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616191 ms (missed cycles : 3).[0m ×2 + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 19.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 19.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.153ms + 19.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 19.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691875 ms (missed cycles : 2). + 19.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691875 ms (missed cycles : 2).[0m ×2 + 19.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 20.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.875ms + 20.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 20.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.683ms ×2 + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867559 ms (missed cycles : 5). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867559 ms (missed cycles : 5).[0m ×2 + 20.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.443ms + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.985167 ms (missed cycles : 6). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.985167 ms (missed cycles : 6).[0m ×2 + 21.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 22.02sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 22.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.905ms + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228339 ms (missed cycles : 5). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228339 ms (missed cycles : 5).[0m ×2 + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 23.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms ×2 + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.428ms + 23.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898436 ms (missed cycles : 3). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898436 ms (missed cycles : 3).[0m ×2 + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms ×2 + 24.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.288ms + 24.32sWARNstate_estimatorOptimization exceeded the configured duration by 80054914ns + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 24.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.342568 ms (missed cycles : 7). + 24.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.342568 ms (missed cycles : 7).[0m ×2 + 24.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms + 25.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.681ms + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.574ms + 25.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.883ms + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.964200 ms (missed cycles : 6). + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.964200 ms (missed cycles : 6).[0m ×2 + 26.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.185ms + 26.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.966ms ×2 + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.000ms + 26.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 27.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812273 ms (missed cycles : 3). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812273 ms (missed cycles : 3).[0m ×2 + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 27.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.676ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.500ms + 28.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767363 ms (missed cycles : 2). + 28.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767363 ms (missed cycles : 2).[0m ×2 + 28.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.578ms + 28.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 29.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739560 ms (missed cycles : 2). + 29.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739560 ms (missed cycles : 2).[0m ×2 + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.816ms + 29.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.471ms + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 29.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.686ms + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 30.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154710 ms (missed cycles : 2). + 30.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154710 ms (missed cycles : 2).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.673ms + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.960ms + 31.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 31.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968362 ms (missed cycles : 2). + 31.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968362 ms (missed cycles : 2).[0m ×2 + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.369ms + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602662 ms (missed cycles : 4). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602662 ms (missed cycles : 4).[0m ×2 + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.679ms + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.162ms + 33.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697098 ms (missed cycles : 3). + 33.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697098 ms (missed cycles : 3).[0m ×2 + 33.47sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855395 ms (missed cycles : 3). + 34.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855395 ms (missed cycles : 3).[0m ×2 + 34.54sWARNstate_estimatorOptimization exceeded the configured duration by 201413415ns + 35.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.523629 ms (missed cycles : 6). + 35.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.523629 ms (missed cycles : 6).[0m ×2 + 35.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 36.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063569 ms (missed cycles : 4). + 36.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063569 ms (missed cycles : 4).[0m ×2 + 37.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781672 ms (missed cycles : 3). + 37.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781672 ms (missed cycles : 3).[0m ×2 + 37.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.198ms + 38.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.262018 ms (missed cycles : 6). + 38.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.262018 ms (missed cycles : 6).[0m ×2 + 39.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498086 ms (missed cycles : 2). + 39.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498086 ms (missed cycles : 2).[0m ×2 + 39.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.748ms + 40.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.612ms + 40.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884421 ms (missed cycles : 3). + 40.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884421 ms (missed cycles : 3).[0m ×2 + 40.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms + 41.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579013 ms (missed cycles : 3). + 41.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579013 ms (missed cycles : 3).[0m ×2 + 42.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497327 ms (missed cycles : 3). + 42.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497327 ms (missed cycles : 3).[0m ×2 + 43.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 43.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612167 ms (missed cycles : 3). + 43.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612167 ms (missed cycles : 3).[0m ×2 + 43.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 44.55sWARNstate_estimatorOptimization exceeded the configured duration by 9630167ns + 44.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055450 ms (missed cycles : 3). + 44.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055450 ms (missed cycles : 3).[0m ×2 + 45.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.600735 ms (missed cycles : 6). + 45.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.600735 ms (missed cycles : 6).[0m ×2 + 46.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.139ms + 46.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.548102 ms (missed cycles : 10). + 46.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.548102 ms (missed cycles : 10).[0m ×2 + 47.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.884ms + 47.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517409 ms (missed cycles : 2). + 47.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517409 ms (missed cycles : 2).[0m ×2 + 48.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 48.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981799 ms (missed cycles : 2). + 48.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981799 ms (missed cycles : 2).[0m ×2 + 49.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964641 ms (missed cycles : 3). + 49.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964641 ms (missed cycles : 3).[0m ×2 + 49.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.706ms + 50.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 50.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453561 ms (missed cycles : 3). + 50.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453561 ms (missed cycles : 3).[0m ×2 + 51.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843338 ms (missed cycles : 2). + 51.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843338 ms (missed cycles : 2).[0m ×2 + 52.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285772 ms (missed cycles : 3). + 52.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285772 ms (missed cycles : 3).[0m ×2 + 53.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.771ms + 53.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262291 ms (missed cycles : 2). + 53.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262291 ms (missed cycles : 2).[0m ×2 + 54.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.975ms + 54.62sWARNstate_estimatorOptimization exceeded the configured duration by 75882652ns + 54.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.792ms + 54.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074285 ms (missed cycles : 2). + 54.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074285 ms (missed cycles : 2).[0m ×2 + 55.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303629 ms (missed cycles : 2). + 55.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303629 ms (missed cycles : 2).[0m ×2 + 56.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 57.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569933 ms (missed cycles : 4). + 57.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569933 ms (missed cycles : 4).[0m ×2 + 57.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.036ms + 58.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 58.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983433 ms (missed cycles : 3). + 58.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983433 ms (missed cycles : 3).[0m ×2 + 59.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943986 ms (missed cycles : 4). + 59.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943986 ms (missed cycles : 4).[0m ×2 + 59.09sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784819880.07013941 seconds ×3 + 59.66sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784819880.63480616 seconds. ×3 + 59.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 59.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.150ms + 60.00sINFOobjective_server_nodeFound path in 0 iterations (1.33e-06 s). ×2 + 60.02sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 60.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.609265 ms (missed cycles : 7). + 60.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.609265 ms (missed cycles : 7).[0m ×2 + 60.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.642ms + 60.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.373ms + 61.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867302 ms (missed cycles : 3). + 61.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867302 ms (missed cycles : 3).[0m ×2 + 61.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 153 warnings · 147 info |
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 1.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.88sINFOmove_groupClearing octomap...[0m ×2 + 1.88sINFOmove_groupOctomap cleared.[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.72sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.72sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863059 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863059 ms (missed cycles : 5).[0m ×2 + 7.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.587ms + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855706 ms (missed cycles : 6). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855706 ms (missed cycles : 6).[0m ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.907541 ms (missed cycles : 8). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.907541 ms (missed cycles : 8).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809937 ms (missed cycles : 2). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809937 ms (missed cycles : 2).[0m ×2 + 10.10sWARNstate_estimatorOptimization exceeded the configured duration by 72485800ns + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275647 ms (missed cycles : 4). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275647 ms (missed cycles : 4).[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068623 ms (missed cycles : 2). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068623 ms (missed cycles : 2).[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492140 ms (missed cycles : 3). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492140 ms (missed cycles : 3).[0m ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994623 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994623 ms (missed cycles : 2).[0m ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653205 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653205 ms (missed cycles : 2).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435493 ms (missed cycles : 4). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435493 ms (missed cycles : 4).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994787 ms (missed cycles : 4). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994787 ms (missed cycles : 4).[0m ×2 + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715904 ms (missed cycles : 3). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715904 ms (missed cycles : 3).[0m ×2 + 18.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.528ms + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.723877 ms (missed cycles : 6). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.723877 ms (missed cycles : 6).[0m ×2 + 20.19sWARNstate_estimatorOptimization exceeded the configured duration by 61771115ns + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537863 ms (missed cycles : 3). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537863 ms (missed cycles : 3).[0m ×2 + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265182 ms (missed cycles : 2). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265182 ms (missed cycles : 2).[0m ×2 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380330 ms (missed cycles : 3). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380330 ms (missed cycles : 3).[0m ×2 + 23.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586722 ms (missed cycles : 4). + 23.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586722 ms (missed cycles : 4).[0m ×2 + 24.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481947 ms (missed cycles : 4). + 24.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481947 ms (missed cycles : 4).[0m ×2 + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870807 ms (missed cycles : 2). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870807 ms (missed cycles : 2).[0m ×2 + 26.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629186 ms (missed cycles : 3). + 26.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629186 ms (missed cycles : 3).[0m ×2 + 27.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105351 ms (missed cycles : 2). + 27.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105351 ms (missed cycles : 2).[0m ×2 + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458351 ms (missed cycles : 4). + 28.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458351 ms (missed cycles : 4).[0m ×2 + 29.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835247 ms (missed cycles : 3). + 29.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835247 ms (missed cycles : 3).[0m ×2 + 30.19sWARNstate_estimatorOptimization exceeded the configured duration by 67004061ns + 30.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.141129 ms (missed cycles : 6). + 30.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.141129 ms (missed cycles : 6).[0m ×2 + 31.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302320 ms (missed cycles : 4). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302320 ms (missed cycles : 4).[0m ×2 + 32.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710483 ms (missed cycles : 2). + 32.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710483 ms (missed cycles : 2).[0m ×2 + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114087 ms (missed cycles : 2). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114087 ms (missed cycles : 2).[0m ×2 + 34.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454751 ms (missed cycles : 4). + 34.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454751 ms (missed cycles : 4).[0m ×2 + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156905 ms (missed cycles : 3). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156905 ms (missed cycles : 3).[0m ×2 + 36.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.040437 ms (missed cycles : 8). + 36.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.040437 ms (missed cycles : 8).[0m ×2 + 37.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.293122 ms (missed cycles : 4). + 37.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.293122 ms (missed cycles : 4).[0m ×2 + 38.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777094 ms (missed cycles : 5). + 38.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777094 ms (missed cycles : 5).[0m ×2 + 39.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676214 ms (missed cycles : 2). + 39.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676214 ms (missed cycles : 2).[0m ×2 + 40.29sWARNstate_estimatorOptimization exceeded the configured duration by 60760137ns + 40.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.077ms + 40.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784168 ms (missed cycles : 3). + 40.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784168 ms (missed cycles : 3).[0m ×2 + 42.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176910 ms (missed cycles : 2). + 42.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176910 ms (missed cycles : 2).[0m ×2 + 43.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197431 ms (missed cycles : 5). + 43.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197431 ms (missed cycles : 5).[0m ×2 + 44.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064741 ms (missed cycles : 5). + 44.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064741 ms (missed cycles : 5).[0m ×2 + 45.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819106 ms (missed cycles : 3). + 45.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819106 ms (missed cycles : 3).[0m ×2 + 46.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307864 ms (missed cycles : 7). + 46.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307864 ms (missed cycles : 7).[0m ×2 + 47.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202377 ms (missed cycles : 2). + 47.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202377 ms (missed cycles : 2).[0m ×2 + 47.38sINFOjoint_trajectory_controllerGoal reached, success! + 47.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784819651.41567659 seconds ×3 + 47.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 47.97sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784819651.96607685 seconds. ×3 + 48.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 48.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688080 ms (missed cycles : 2). + 48.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688080 ms (missed cycles : 2).[0m ×2 + 48.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 48.95sINFOobjective_server_nodeFound path in 0 iterations (2.9042e-05 s). ×2 + 48.95sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471968 ms (missed cycles : 3). + 49.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471968 ms (missed cycles : 3).[0m ×2 + 50.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254550 ms (missed cycles : 5). + 50.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254550 ms (missed cycles : 5).[0m ×2 + 50.32sWARNstate_estimatorOptimization exceeded the configured duration by 91277738ns + 50.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.9s | 112 warnings · 188 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 0.37sWARNstate_estimatorOptimization exceeded the configured duration by 30250874ns + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.337407 ms (missed cycles : 7). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.337407 ms (missed cycles : 7).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 0.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.046ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976775 ms (missed cycles : 2). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976775 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 2.43sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.43sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.49sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784819716.67082405 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027083 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027083 ms (missed cycles : 2).[0m ×2 + 2.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.995ms + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720799 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720799 ms (missed cycles : 3).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.06sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784819718.24383211 seconds. ×3 + 4.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959866 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959866 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.767923 ms (missed cycles : 6). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.767923 ms (missed cycles : 6).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.00sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.00sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845073 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845073 ms (missed cycles : 2).[0m ×2 + 7.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052234 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052234 ms (missed cycles : 2).[0m ×2 + 7.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 8.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 8.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.965062 ms (missed cycles : 8). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.965062 ms (missed cycles : 8).[0m ×2 + 8.80sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.348ms + 9.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.157ms + 9.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.920ms + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792649 ms (missed cycles : 3). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792649 ms (missed cycles : 3).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.313ms + 9.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 10.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.130ms + 10.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.359ms ×2 + 10.40sWARNstate_estimatorOptimization exceeded the configured duration by 58818670ns + 10.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989478 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989478 ms (missed cycles : 2).[0m ×2 + 10.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.138ms + 11.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.539ms + 11.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.817ms + 11.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004038 ms (missed cycles : 4). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004038 ms (missed cycles : 4).[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.703ms + 12.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 12.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.298ms + 12.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.218ms + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389320 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389320 ms (missed cycles : 3).[0m ×2 + 12.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.140ms + 13.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.108ms + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110677 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110677 ms (missed cycles : 2).[0m ×2 + 13.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 14.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.088ms + 14.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.099ms + 14.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.743ms + 14.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570545 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570545 ms (missed cycles : 2).[0m ×2 + 15.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.975ms + 15.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.373ms + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 15.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962298 ms (missed cycles : 4). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962298 ms (missed cycles : 4).[0m ×2 + 15.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.101ms + 16.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.095ms + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 16.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 16.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276560 ms (missed cycles : 2). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276560 ms (missed cycles : 2).[0m ×2 + 17.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.435ms + 17.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.870ms + 17.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060827 ms (missed cycles : 3). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060827 ms (missed cycles : 3).[0m ×2 + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.654ms + 18.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.740ms + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.357ms + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906683 ms (missed cycles : 3). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906683 ms (missed cycles : 3).[0m ×2 + 19.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 19.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.349ms + 19.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.623ms + 19.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 20.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.525546 ms (missed cycles : 7). + 20.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.525546 ms (missed cycles : 7).[0m ×2 + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.151ms + 20.42sWARNstate_estimatorOptimization exceeded the configured duration by 84247361ns + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.852ms + 20.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 21.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879581 ms (missed cycles : 2). + 21.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879581 ms (missed cycles : 2).[0m ×2 + 21.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.504ms + 21.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 22.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.163587 ms (missed cycles : 5). + 22.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.163587 ms (missed cycles : 5).[0m ×2 + 22.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 22.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.501ms + 22.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms ×2 + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 23.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.324ms + 23.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559939 ms (missed cycles : 4). + 23.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559939 ms (missed cycles : 4).[0m ×2 + 23.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms ×2 + 23.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.606ms + 23.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356239 ms (missed cycles : 3). + 24.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356239 ms (missed cycles : 3).[0m ×2 + 24.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.329ms + 24.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.572ms + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 24.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.236ms + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms + 25.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304611 ms (missed cycles : 2). + 25.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304611 ms (missed cycles : 2).[0m ×2 + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.029ms + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.386ms + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.747ms + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.536ms + 26.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428308 ms (missed cycles : 3). + 26.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428308 ms (missed cycles : 3).[0m ×2 + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.360ms + 26.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.402ms + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.724ms + 27.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311309 ms (missed cycles : 3). + 27.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311309 ms (missed cycles : 3).[0m ×2 + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.981ms + 27.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 28.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.871ms + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.824ms + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702601 ms (missed cycles : 2). + 28.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702601 ms (missed cycles : 2).[0m ×2 + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.048ms + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.885ms + 29.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.021ms + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.866ms + 29.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555834 ms (missed cycles : 3). + 29.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555834 ms (missed cycles : 3).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.870ms + 29.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.174ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.699ms + 30.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.925ms + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612331 ms (missed cycles : 3). + 30.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612331 ms (missed cycles : 3).[0m ×2 + 30.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.380ms + 30.53sWARNstate_estimatorOptimization exceeded the configured duration by 90344071ns + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.496ms + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.116ms + 31.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 31.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.521282 ms (missed cycles : 7). + 31.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.521282 ms (missed cycles : 7).[0m ×2 + 31.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.544ms + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.708ms + 31.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.944ms + 32.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.575872 ms (missed cycles : 6). + 32.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.575872 ms (missed cycles : 6).[0m ×2 + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 33.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.626ms + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 33.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499316 ms (missed cycles : 3). + 33.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499316 ms (missed cycles : 3).[0m ×2 + 34.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.221ms + 34.40sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784819748.58403134 seconds ×3 + 34.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198926 ms (missed cycles : 5). + 34.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198926 ms (missed cycles : 5).[0m ×2 + 34.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 34.96sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784819749.14502621 seconds. ×3 + 35.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.316ms + 35.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 35.33sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 35.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 35.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.255ms + 35.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.199ms + 35.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.069548 ms (missed cycles : 6). + 35.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.069548 ms (missed cycles : 6).[0m ×2 + 35.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms + 36.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 36.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.544ms + 36.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 36.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 36.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762562 ms (missed cycles : 3). + 36.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762562 ms (missed cycles : 3).[0m ×2 + 36.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.372ms + 37.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 37.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.729ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 13.1s | 97 errors · 34 warnings · 458 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162614 ms (missed cycles : 5). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162614 ms (missed cycles : 5).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 0.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987734 ms (missed cycles : 3). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987734 ms (missed cycles : 3).[0m ×2 + 2.10sINFOjoint_trajectory_controllerGoal reached, success! + 2.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.243ms + 2.13sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784819893.08946919 seconds ×3 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881883 ms (missed cycles : 6). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881883 ms (missed cycles : 6).[0m ×2 + 2.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.145ms + 2.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.106ms + 2.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784819893.68144798 seconds. ×3 + 2.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.74sINFOmove_groupClearing octomap...[0m ×2 + 2.74sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 3.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.724602 ms (missed cycles : 6). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.724602 ms (missed cycles : 6).[0m ×2 + 3.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 3.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 4.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784819894.95165038 seconds ×3 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 4.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784819895.50770402 seconds. ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195078 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195078 ms (missed cycles : 2).[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 4.76sWARNstate_estimatorOptimization exceeded the configured duration by 95871427ns + 4.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784819895.90786386 seconds ×3 + 5.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.306ms + 5.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 5.18sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468910 ms (missed cycles : 4). + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468910 ms (missed cycles : 4).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774608 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774608 ms (missed cycles : 2).[0m ×2 + 7.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703713 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703713 ms (missed cycles : 2).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808700 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808700 ms (missed cycles : 2).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938529 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938529 ms (missed cycles : 2).[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643210 ms (missed cycles : 4). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643210 ms (missed cycles : 4).[0m ×2 + 11.02sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.05sERRORweb_video_server-33process[web_video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORweb_video_auth_proxy-35process has died [pid 13315, 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 + 11.06sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.08sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORweb_bridge_auth_proxy-34process has died [pid 13304, 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 + 11.08sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORfixed_lag_smoother_node-8process[fixed_lag_smoother_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sINFOweb_video_server-33sending signal 'SIGTERM' to process[web_video_server-33] ×2 + 11.21sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.24sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.26sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.27sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.29sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.31sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.34sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.36sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.39sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.42sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.44sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.47sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.49sINFOtf2_web_republisher_node-32process has finished cleanly [pid 13275] ×2 + 11.50sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.52sINFOweb_video_server-33process has finished cleanly [pid 13285] ×2 + 11.54sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.54sINFOcontroller_managerShutdown request received.... + 11.55sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.55sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.55sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.55sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.55sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.55sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.55sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.55sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.55sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.55sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.55sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.55sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.55sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.55sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.55sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.55sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.55sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.55sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.55sINFOcontroller_managerShutting down the controller manager. + 11.57sINFOfixed_lag_smoother_node-8sending signal 'SIGTERM' to process[fixed_lag_smoother_node-8] ×2 + 11.59sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.60sERRORmove_group-21process has died [pid 13236, 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_oj8w1y55 --params-file /tmp/launch_params_03m13l3h --params-file /tmp/launch_params_w3hv_iv7 --params-file /tmp/launch_params_18nzamk5 --params-file /tmp/launch_params_cxon1p9z --params-file /tmp/launch_params_9m8bntfc']. ×2 + 11.60sERRORui_teleop_bridge-30process has died [pid 13253, 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_nyl6ejsq']. ×2 + 11.62sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.63sINFOcomponent_container_mt-28process has finished cleanly [pid 13250] ×2 + 11.64sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.67sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] ×2 + 11.67sINFOexecute_objective_bridge-29process has finished cleanly [pid 13252] ×2 + 11.69sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] ×2 + 11.71sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.73sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.73sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.73sINFOcontroller_serverCleaning up + 11.73sINFOlocal_costmap.local_costmapCleaning up + 11.73sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.73sERRORobjective_server_node_main-26process has died [pid 13248, 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_4koijysd --params-file /tmp/launch_params_870_rprt --params-file /tmp/launch_params_w2p_ub_a --params-file /tmp/launch_params_66z2md67 --params-file /tmp/launch_params_jbx6p5y6 --params-file /tmp/launch_params_8t84sp8e --params-file /tmp/launch_params__cjd0pqm --params-file /tmp/launch_params_5h974e9p --params-file /tmp/launch_params_3ws7quwh']. ×2 + 11.73sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.73sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.74sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.74sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.74sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.74sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.74sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.74sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main ×2 + 11.74sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.74sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.74sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.74sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.74sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.74sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.74sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.74sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.74sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.74sINFOobjective_server_node[0;m[0m[INFO] [2026-07-23 15:18:22.318] signal_handler(SIGINT/SIGTERM)[0m ×2 + 11.74sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.74sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.75sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.75sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.75sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.75sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.75sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.75sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.75sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.75sERRORmove_groupStack trace (most recent call last) in thread 13891: ×2 + 11.75sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.75sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc0d1baba63, in __clone ×2 + 11.75sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc0d1b1eaa3, in ×2 + 11.75sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc0d1db0db3, in ×2 + 11.75sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fc0d24f3ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.75sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc0d21234d0, in rclcpp::Rate::sleep() ×2 + 11.75sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc0d2076a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.75sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc0d203ba71, in ×2 + 11.75sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc0d1d7f390, in __cxa_throw ×2 + 11.75sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc0d1d69a54, in std::terminate() ×2 + 11.75sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc0d1d7f0d9, in ×2 + 11.75sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc0d1d69ff4, in ×2 + 11.75sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc0d1aaa8fe, in abort ×2 + 11.75sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc0d1ac727d, in raise ×2 + 11.75sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc0d1b20b2c, in pthread_kill ×2 + 11.75sERRORmove_groupAborted (Signal sent by tkill() 13236 0) ×2 + 11.75sINFOobjective_server_node[2026-07-23 15:18:22.497] [moveit_pro_license] [info] ×2 + 11.75sINFOobjective_server_node************************************************* ×4 + 11.75sINFOobjective_server_node* MoveIt Pro License ×2 + 11.75sINFOobjective_server_node* Application has successfully terminated ×2 + 11.75sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.75sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.75sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.75sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.75sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.75sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.75sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.76sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.76sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.76sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.76sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.76sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.76sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.76sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.76sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.76sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.76sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.76sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.76sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.76sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.76sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.76sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.76sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.76sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.76sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.76sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.76sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 11.76sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.76sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.76sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557fc305f6a4, in _start ×2 + 11.76sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc7f20de28a, in __libc_start_main ×2 + 11.76sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc7f20de1d0, in ×2 + 11.76sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc7f20fbbbd, in exit ×2 + 11.76sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc7f20fba75, in ×2 + 11.76sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fc7f25ca8f5, in spdlog::details::registry::~registry() ×2 + 11.76sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557fc305fd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.76sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557fc3066315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.76sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557fc30655a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.76sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557fc3061b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.76sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557fc305fd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.76sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc7f2c80454, in rclcpp::Node::~Node() ×2 + 11.76sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc7f2c3b515, in ×2 + 11.76sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc7f2c7ed20, in ×2 + 11.76sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc7f2c7ec63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.76sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc7f2c3b5d9, in ×2 + 11.76sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc7f2c40161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.76sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.76sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fc7a1c33090]) ×2 + 11.77sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.77sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.77sINFOodom_qos_relay.pymain() ×2 + 11.77sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.77sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.77sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.77sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.77sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.77sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.77sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.77sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.77sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.77sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.77sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.77sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.77sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.77sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.77sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.77sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.77sERRORodom_world_drift.pyTraceback (most recent call last): ×2 + 11.77sINFOodom_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 + 11.77sINFOodom_world_drift.pymain() ×2 + 11.77sINFOodom_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 + 11.77sINFOodom_world_drift.pyrclpy.spin(node) ×2 + 11.77sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.77sINFOodom_world_drift.pyexecutor.spin_once() ×2 + 11.77sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.77sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) ×2 + 11.77sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.77sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.77sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.77sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.77sINFOodom_world_drift.pyreturn next(self._cb_iter) ×2 + 11.77sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.77sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.77sINFOodom_world_drift.pyraise ExternalShutdownException() ×2 + 11.77sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException ×2 + 11.77sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.77sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 11.77sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.77sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.77sINFOmap_serverDeactivating + 11.77sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.78sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.78sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.78sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.79sINFOmap_serverCleaning up + 11.79sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.79sINFOsmoother_serverCleaning up + 11.80sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.80sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.80sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.80sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.80sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.82sERRORamclThe bond connection to the lifecycle manager has been broken + 11.83sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.83sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.83sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.83sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.83sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.83sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.83sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.83sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.83sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.04sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 12.46sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 13247] ×2 + 12.48sINFOmove_joint_resampler_node-24process has finished cleanly [pid 13246] ×2 + 12.51sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784819902.356 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.55sINFOparameter_manager_node-22process has finished cleanly [pid 13237] ×2 + 12.55sINFOwaypoint_manager_node-23process has finished cleanly [pid 13238] ×2 + 12.62sINFOcomponent_container_mt-27process has finished cleanly [pid 13249] ×2 + 12.65sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 13145] ×2 + 12.67sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 13144] ×2 + 12.71sINFOfixed_lag_smoother_node-8process has finished cleanly [pid 13146] ×2 + 12.71sINFOslip_aware_odom-4process has finished cleanly [pid 13142] ×2 + 12.75sINFOstatic_transform_publisher-2process has finished cleanly [pid 13140] ×2 + 12.75sERRORodom_qos_relay.py-5process has died [pid 13143, 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 + 13.78sERRORodom_world_drift.py-3process has died [pid 13141, 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_xbn4orl8']. ×2 + 14.08sINFOweb_bridge-31process has finished cleanly [pid 13254] ×2 + 14.08sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.37sINFOros2_control_node-9process has finished cleanly [pid 13147] ×2 + 16.03sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 16.04sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 + 16.05sERRORcomponent_container_isolated-1process has died [pid 13139, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_no2_ld9e --params-file /tmp/launch_params_1rrg5r1e -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.0s | 59 warnings · 154 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303629 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303629 ms (missed cycles : 2).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569933 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569933 ms (missed cycles : 4).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.036ms + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983433 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983433 ms (missed cycles : 3).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943986 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943986 ms (missed cycles : 4).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.09sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784819880.07013941 seconds ×3 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.66sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784819880.63480616 seconds. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.150ms + 4.01sINFOobjective_server_nodeFound path in 0 iterations (1.33e-06 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.05sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.05sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.05sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.05sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.609265 ms (missed cycles : 7). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.609265 ms (missed cycles : 7).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.642ms + 5.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.373ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867302 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867302 ms (missed cycles : 3).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms + 5.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839996 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839996 ms (missed cycles : 3).[0m ×2 + 6.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090544 ms (missed cycles : 4). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090544 ms (missed cycles : 4).[0m ×2 + 7.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.259ms + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434793 ms (missed cycles : 4). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434793 ms (missed cycles : 4).[0m ×2 + 8.28sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (1.19e-06 s). ×2 + 8.46sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 8.62sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.64sWARNstate_estimatorOptimization exceeded the configured duration by 86301393ns + 8.66sINFOobjective_server_nodeFound path in 0 iterations (8.3e-07 s). ×2 + 8.90sINFOobjective_server_nodeFound path in 69 iterations (0.0465697 s). ×2 + 9.08sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.13sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×4 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976896 ms (missed cycles : 4). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976896 ms (missed cycles : 4).[0m ×2 + 9.51sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.87sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.12sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871574 ms (missed cycles : 2). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871574 ms (missed cycles : 2).[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899362 ms (missed cycles : 3). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899362 ms (missed cycles : 3).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.087ms + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.830362 ms (missed cycles : 6). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.830362 ms (missed cycles : 6).[0m ×2 + 12.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 12.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 13.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721937 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721937 ms (missed cycles : 2).[0m ×2 + 13.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms ×2 + 13.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162614 ms (missed cycles : 5). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162614 ms (missed cycles : 5).[0m ×2 + 14.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 14.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 15.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987734 ms (missed cycles : 3). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987734 ms (missed cycles : 3).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.243ms + 16.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784819893.08946919 seconds ×3 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881883 ms (missed cycles : 6). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881883 ms (missed cycles : 6).[0m ×2 + 16.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.145ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.106ms + 16.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784819893.68144798 seconds. ×3 + 16.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.73sINFOmove_groupClearing octomap...[0m ×2 + 16.73sINFOmove_groupOctomap cleared.[0m ×2 + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 17.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 17.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 17.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.724602 ms (missed cycles : 6). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.724602 ms (missed cycles : 6).[0m ×2 + 17.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 17.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 17.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784819894.95165038 seconds ×3 + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 18.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784819895.50770402 seconds. ×3 + 18.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195078 ms (missed cycles : 2). + 18.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195078 ms (missed cycles : 2).[0m ×2 + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 18.74sWARNstate_estimatorOptimization exceeded the configured duration by 95871427ns + 18.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784819895.90786386 seconds ×3 + 19.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.306ms | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 9 errors · 53 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.129919 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.129919 ms (missed cycles : 6).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672234 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672234 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143117 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143117 ms (missed cycles : 5).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143831 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143831 ms (missed cycles : 2).[0m ×2 + 3.19sINFOros2_control_nodeMuJoCo sim: 1.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.38sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 5 seconds. ×3 + 3.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784819783.18523860 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.66sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.506ms + 3.77sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.861ms + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899751 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899751 ms (missed cycles : 2).[0m ×2 + 4.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.147ms + 4.08sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784819783.88496900 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.438ms + 4.37sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.942ms + 4.45sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.753ms + 4.56sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.128ms + 4.76sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.877ms + 4.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.243ms + 5.06sWARNstate_estimatorOptimization exceeded the configured duration by 45489986ns + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905862 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905862 ms (missed cycles : 2).[0m ×2 + 5.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.659ms + 5.17sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.038ms + 5.26sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.085ms + 5.47sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.250ms + 5.67sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.734ms + 5.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 5.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.87sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.947ms + 6.08sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.625ms + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799759 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799759 ms (missed cycles : 2).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.456ms + 6.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.928ms + 6.77sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 5.593ms + 6.96sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 4.211ms + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.701674 ms (missed cycles : 8). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.701674 ms (missed cycles : 8).[0m ×2 + 7.18sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 5.023ms + 7.38sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 3.899ms + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738126 ms (missed cycles : 2). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738126 ms (missed cycles : 2).[0m ×2 + 8.58sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 2.822ms + 8.78sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 3.492ms + 8.96sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 3.011ms + 9.16sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 3.268ms + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.801058 ms (missed cycles : 6). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.801058 ms (missed cycles : 6).[0m ×2 + 9.47sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 3.822ms + 9.68sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 2.746ms + 9.98sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 2.276ms + 10.18sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 3.012ms + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775871 ms (missed cycles : 5). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775871 ms (missed cycles : 5).[0m ×2 + 10.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.179ms + 10.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.777ms + 10.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.991ms ×2 + 11.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.118ms + 11.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892573 ms (missed cycles : 3). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892573 ms (missed cycles : 3).[0m ×2 + 11.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.628ms + 11.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.329ms + 12.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.644ms + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516930 ms (missed cycles : 2). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516930 ms (missed cycles : 2).[0m ×2 + 12.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.962ms + 12.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 12.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 13.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 13.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.250ms + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964103 ms (missed cycles : 2). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964103 ms (missed cycles : 2).[0m ×2 + 13.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.241ms + 13.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms + 14.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.082ms + 14.13sINFOjoint_trajectory_controllerGot request to cancel goal + 14.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.13sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784819793.97652602 seconds ×3 + 14.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537248 ms (missed cycles : 4). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537248 ms (missed cycles : 4).[0m ×2 + 14.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.100ms + 14.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 14.73sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784819794.53074050 seconds. ×3 + 14.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.260ms + 15.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.411ms + 15.09sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 15.14sWARNstate_estimatorOptimization exceeded the configured duration by 23554783ns + 15.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.332ms + 15.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.520ms + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469374 ms (missed cycles : 2). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469374 ms (missed cycles : 2).[0m ×2 + 15.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.635ms + 15.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 15.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.860ms + 16.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.263ms + 16.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.522ms + 16.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358773 ms (missed cycles : 3). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358773 ms (missed cycles : 3).[0m ×2 + 16.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.144ms + 16.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.268ms + 17.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.449ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 40 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584808 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584808 ms (missed cycles : 4).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960159 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960159 ms (missed cycles : 2).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821362 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821362 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.102ms + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173497 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173497 ms (missed cycles : 2).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.57sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784819712.06335664 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.804643 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.804643 ms (missed cycles : 6).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784819712.62954664 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.234ms + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 4.52sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.54sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.54sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.142ms + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.597823 ms (missed cycles : 6). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.597823 ms (missed cycles : 6).[0m ×2 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 6.09sWARNstate_estimatorOptimization exceeded the configured duration by 30250874ns + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.337407 ms (missed cycles : 7). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.337407 ms (missed cycles : 7).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms + 7.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.046ms + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976775 ms (missed cycles : 2). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976775 ms (missed cycles : 2).[0m ×2 + 7.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 8.21sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784819716.67082405 seconds ×3 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027083 ms (missed cycles : 2). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027083 ms (missed cycles : 2).[0m ×2 + 8.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.995ms + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720799 ms (missed cycles : 3). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720799 ms (missed cycles : 3).[0m ×2 + 9.78sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784819718.24383211 seconds. ×3 + 10.17sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959866 ms (missed cycles : 2). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959866 ms (missed cycles : 2).[0m ×2 + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.767923 ms (missed cycles : 6). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.767923 ms (missed cycles : 6).[0m ×2 + 11.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845073 ms (missed cycles : 2). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845073 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.7s | 31 warnings · 66 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064741 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064741 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819106 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819106 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307864 ms (missed cycles : 7). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307864 ms (missed cycles : 7).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202377 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202377 ms (missed cycles : 2).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.28sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784819651.41567659 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 3.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784819651.96607685 seconds. ×3 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688080 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688080 ms (missed cycles : 2).[0m ×2 + 4.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 4.85sINFOobjective_server_nodeFound path in 0 iterations (2.9042e-05 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471968 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471968 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254550 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254550 ms (missed cycles : 5).[0m ×2 + 6.22sWARNstate_estimatorOptimization exceeded the configured duration by 91277738ns + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 7.02sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784819655.11623001 seconds ×3 + 7.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325967 ms (missed cycles : 4). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325967 ms (missed cycles : 4).[0m ×2 + 7.58sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784819655.67317224 seconds. ×3 + 7.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 7.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 7.92sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 8.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.845ms + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916088 ms (missed cycles : 3). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916088 ms (missed cycles : 3).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427932 ms (missed cycles : 4). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427932 ms (missed cycles : 4).[0m ×2 + 9.48sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.9s | 28 warnings · 66 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.830362 ms (missed cycles : 6). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.830362 ms (missed cycles : 6).[0m ×2 + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721937 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721937 ms (missed cycles : 2).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162614 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162614 ms (missed cycles : 5).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 2.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987734 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987734 ms (missed cycles : 3).[0m ×2 + 3.89sINFOjoint_trajectory_controllerGoal reached, success! + 3.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.243ms + 3.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784819893.08946919 seconds ×3 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881883 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881883 ms (missed cycles : 6).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.145ms + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.106ms + 4.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784819893.68144798 seconds. ×3 + 4.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.53sINFOmove_groupClearing octomap...[0m ×2 + 4.53sINFOmove_groupOctomap cleared.[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 5.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 5.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.724602 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.724602 ms (missed cycles : 6).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 5.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 5.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784819894.95165038 seconds ×3 + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 5.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 6.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784819895.50770402 seconds. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195078 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195078 ms (missed cycles : 2).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 6.55sWARNstate_estimatorOptimization exceeded the configured duration by 95871427ns + 6.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784819895.90786386 seconds ×3 + 6.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.306ms + 6.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 6.97sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 7.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 7.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468910 ms (missed cycles : 4). + 7.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 7.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468910 ms (missed cycles : 4).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774608 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774608 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 1.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.88sINFOmove_groupClearing octomap...[0m ×2 + 1.88sINFOmove_groupOctomap cleared.[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863059 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863059 ms (missed cycles : 5).[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 7.064741 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064741 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819106 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819106 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307864 ms (missed cycles : 7). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307864 ms (missed cycles : 7).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202377 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202377 ms (missed cycles : 2).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784819651.41567659 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 3.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784819651.96607685 seconds. ×3 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688080 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688080 ms (missed cycles : 2).[0m ×2 + 4.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 4.85sINFOobjective_server_nodeFound path in 0 iterations (2.9042e-05 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471968 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471968 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254550 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254550 ms (missed cycles : 5).[0m ×2 + 6.22sWARNstate_estimatorOptimization exceeded the configured duration by 91277738ns + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 19 warnings · 66 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784819651.41567659 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784819651.96607685 seconds. ×3 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688080 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688080 ms (missed cycles : 2).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 1.57sINFOobjective_server_nodeFound path in 0 iterations (2.9042e-05 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.59sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.59sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.59sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.59sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471968 ms (missed cycles : 3). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471968 ms (missed cycles : 3).[0m ×2 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254550 ms (missed cycles : 5). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254550 ms (missed cycles : 5).[0m ×2 + 2.93sWARNstate_estimatorOptimization exceeded the configured duration by 91277738ns + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 3.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784819655.11623001 seconds ×3 + 3.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325967 ms (missed cycles : 4). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325967 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784819655.67317224 seconds. ×3 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 4.64sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.845ms + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916088 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916088 ms (missed cycles : 3).[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427932 ms (missed cycles : 4). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427932 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 22 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584808 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584808 ms (missed cycles : 4).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960159 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960159 ms (missed cycles : 2).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821362 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821362 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.102ms + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173497 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173497 ms (missed cycles : 2).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784819712.06335664 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.804643 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.804643 ms (missed cycles : 6).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784819712.62954664 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.234ms + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 4.52sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.142ms + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.597823 ms (missed cycles : 6). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.597823 ms (missed cycles : 6).[0m ×2 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 6.09sWARNstate_estimatorOptimization exceeded the configured duration by 30250874ns + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.337407 ms (missed cycles : 7). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.337407 ms (missed cycles : 7).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 22 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584808 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584808 ms (missed cycles : 4).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960159 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960159 ms (missed cycles : 2).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821362 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821362 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.102ms + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173497 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173497 ms (missed cycles : 2).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784819712.06335664 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.804643 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.804643 ms (missed cycles : 6).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784819712.62954664 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.234ms + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 4.52sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.142ms + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.597823 ms (missed cycles : 6). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.597823 ms (missed cycles : 6).[0m ×2 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 6.09sWARNstate_estimatorOptimization exceeded the configured duration by 30250874ns + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.337407 ms (missed cycles : 7). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.337407 ms (missed cycles : 7).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − 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 7.064741 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064741 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819106 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819106 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307864 ms (missed cycles : 7). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307864 ms (missed cycles : 7).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202377 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202377 ms (missed cycles : 2).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784819651.41567659 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 3.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784819651.96607685 seconds. ×3 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688080 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688080 ms (missed cycles : 2).[0m ×2 + 4.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 4.85sINFOobjective_server_nodeFound path in 0 iterations (2.9042e-05 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471968 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471968 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254550 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254550 ms (missed cycles : 5).[0m ×2 + 6.22sWARNstate_estimatorOptimization exceeded the configured duration by 91277738ns + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7).[0m ×2 + 0.40sINFOros2_control_nodeMuJoCo sim: 1.82% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 1.42sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.30sINFOmove_groupOctomap cleared.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 5.16sINFOobjective_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 + 5.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 22 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584808 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584808 ms (missed cycles : 4).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960159 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960159 ms (missed cycles : 2).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821362 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821362 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.102ms + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173497 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173497 ms (missed cycles : 2).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784819712.06335664 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.804643 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.804643 ms (missed cycles : 6).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784819712.62954664 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.234ms + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 4.52sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.142ms + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.597823 ms (missed cycles : 6). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.597823 ms (missed cycles : 6).[0m ×2 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 6.09sWARNstate_estimatorOptimization exceeded the configured duration by 30250874ns + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.337407 ms (missed cycles : 7). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.337407 ms (missed cycles : 7).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 22 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584808 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584808 ms (missed cycles : 4).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960159 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960159 ms (missed cycles : 2).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821362 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821362 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.102ms + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173497 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173497 ms (missed cycles : 2).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784819712.06335664 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.804643 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.804643 ms (missed cycles : 6).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784819712.62954664 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.234ms + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 4.52sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.142ms + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.597823 ms (missed cycles : 6). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.597823 ms (missed cycles : 6).[0m ×2 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 6.09sWARNstate_estimatorOptimization exceeded the configured duration by 30250874ns + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.337407 ms (missed cycles : 7). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.337407 ms (missed cycles : 7).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 22 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584808 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584808 ms (missed cycles : 4).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960159 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960159 ms (missed cycles : 2).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821362 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821362 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.102ms + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173497 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173497 ms (missed cycles : 2).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784819712.06335664 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.804643 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.804643 ms (missed cycles : 6).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784819712.62954664 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.234ms + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 4.52sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.142ms + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.597823 ms (missed cycles : 6). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.597823 ms (missed cycles : 6).[0m ×2 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 6.09sWARNstate_estimatorOptimization exceeded the configured duration by 30250874ns + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.337407 ms (missed cycles : 7). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.337407 ms (missed cycles : 7).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.918ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 18 warnings · 55 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.496ms + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.116ms + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.521282 ms (missed cycles : 7). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.521282 ms (missed cycles : 7).[0m ×2 + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.544ms + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.708ms + 1.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.944ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.575872 ms (missed cycles : 6). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.575872 ms (missed cycles : 6).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.626ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499316 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499316 ms (missed cycles : 3).[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.221ms + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784819748.58403134 seconds ×3 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198926 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198926 ms (missed cycles : 5).[0m ×2 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 4.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784819749.14502621 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.316ms + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 4.53sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 4.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.255ms + 4.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.199ms + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.069548 ms (missed cycles : 6). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.069548 ms (missed cycles : 6).[0m ×2 + 4.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.544ms + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 5.84sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762562 ms (missed cycles : 3). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762562 ms (missed cycles : 3).[0m ×2 + 6.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.372ms + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.729ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 18 warnings · 55 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.496ms + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.116ms + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.521282 ms (missed cycles : 7). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.521282 ms (missed cycles : 7).[0m ×2 + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.544ms + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.708ms + 1.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.944ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.575872 ms (missed cycles : 6). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.575872 ms (missed cycles : 6).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.626ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499316 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499316 ms (missed cycles : 3).[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.221ms + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784819748.58403134 seconds ×3 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198926 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198926 ms (missed cycles : 5).[0m ×2 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 4.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784819749.14502621 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.316ms + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 4.53sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 4.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.255ms + 4.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.199ms + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.069548 ms (missed cycles : 6). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.069548 ms (missed cycles : 6).[0m ×2 + 4.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.544ms + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 5.84sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762562 ms (missed cycles : 3). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762562 ms (missed cycles : 3).[0m ×2 + 6.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.372ms + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.729ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 18 warnings · 55 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.496ms + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.116ms + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.521282 ms (missed cycles : 7). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.521282 ms (missed cycles : 7).[0m ×2 + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.544ms + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.708ms + 1.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.944ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.575872 ms (missed cycles : 6). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.575872 ms (missed cycles : 6).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.626ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499316 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499316 ms (missed cycles : 3).[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.221ms + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784819748.58403134 seconds ×3 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198926 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198926 ms (missed cycles : 5).[0m ×2 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 4.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784819749.14502621 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.316ms + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 4.53sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 4.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.255ms + 4.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.199ms + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.069548 ms (missed cycles : 6). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.069548 ms (missed cycles : 6).[0m ×2 + 4.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.544ms + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 5.84sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal + 5.88sINFOjoint_trajectory_controllerAccepted new action goal + 5.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.367ms + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762562 ms (missed cycles : 3). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762562 ms (missed cycles : 3).[0m ×2 + 6.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.372ms + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.729ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7).[0m ×2 + 0.40sINFOros2_control_nodeMuJoCo sim: 1.82% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 1.42sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.30sINFOmove_groupOctomap cleared.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 5.16sINFOobjective_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 + 5.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 6 errors · 22 warnings · 52 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.589ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.689ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.954ms + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.647ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.665ms + 3.79sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784819824.77096510 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.830ms + 4.14sWARNstate_estimatorOptimization exceeded the configured duration by 95855312ns + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.317ms + 4.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784819825.38997746 seconds. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.934ms + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.210ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.566ms + 5.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.582ms + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.714ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.783ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 14.088ms + 5.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.433ms + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.477ms + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.836ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.064ms + 6.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.767ms | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 6 errors · 22 warnings · 52 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.589ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.689ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.954ms + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.647ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.665ms + 3.79sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784819824.77096510 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.830ms + 4.14sWARNstate_estimatorOptimization exceeded the configured duration by 95855312ns + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.317ms + 4.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784819825.38997746 seconds. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.934ms + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.210ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.566ms + 5.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.582ms + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.714ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.783ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 14.088ms + 5.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.433ms + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.477ms + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.836ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.064ms + 6.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.767ms | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7).[0m ×2 + 0.40sINFOros2_control_nodeMuJoCo sim: 1.82% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 1.42sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.30sINFOmove_groupOctomap cleared.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 5.16sINFOobjective_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 + 5.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 6 errors · 22 warnings · 52 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.589ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.689ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.954ms + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.647ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.665ms + 3.79sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784819824.77096510 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.830ms + 4.14sWARNstate_estimatorOptimization exceeded the configured duration by 95855312ns + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.317ms + 4.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784819825.38997746 seconds. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.934ms + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.210ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.566ms + 5.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.582ms + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.714ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.783ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 14.088ms + 5.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.433ms + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.477ms + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.836ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.064ms + 6.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.767ms | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 6 errors · 22 warnings · 52 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.589ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.689ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.954ms + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.647ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.665ms + 3.79sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784819824.77096510 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.830ms + 4.14sWARNstate_estimatorOptimization exceeded the configured duration by 95855312ns + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.317ms + 4.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784819825.38997746 seconds. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.934ms + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.210ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.566ms + 5.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.582ms + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.714ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.783ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 14.088ms + 5.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.433ms + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.477ms + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.836ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.064ms + 6.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.767ms | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 6 errors · 22 warnings · 52 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.589ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.689ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.954ms + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.647ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.665ms + 3.79sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784819824.77096510 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.830ms + 4.14sWARNstate_estimatorOptimization exceeded the configured duration by 95855312ns + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.317ms + 4.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784819825.38997746 seconds. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.934ms + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.210ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.566ms + 5.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.582ms + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.714ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.783ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 14.088ms + 5.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.433ms + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.477ms + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.836ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.064ms + 6.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.767ms | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 6 errors · 22 warnings · 52 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.589ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.689ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.954ms + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.647ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.665ms + 3.79sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784819824.77096510 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.830ms + 4.14sWARNstate_estimatorOptimization exceeded the configured duration by 95855312ns + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.317ms + 4.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784819825.38997746 seconds. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.934ms + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.210ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.566ms + 5.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.582ms + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.714ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.783ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 14.088ms + 5.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.433ms + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.477ms + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.836ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.064ms + 6.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.767ms | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 6 errors · 22 warnings · 52 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.589ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.689ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.954ms + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.647ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.665ms + 3.79sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784819824.77096510 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.830ms + 4.14sWARNstate_estimatorOptimization exceeded the configured duration by 95855312ns + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.317ms + 4.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784819825.38997746 seconds. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.934ms + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.210ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.566ms + 5.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.582ms + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.714ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.783ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 14.088ms + 5.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.433ms + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.477ms + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.836ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.064ms + 6.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.767ms | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 6 errors · 22 warnings · 52 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152889 ms (missed cycles : 7).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.589ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.689ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.954ms + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314178 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.647ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392113 ms (missed cycles : 6).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532009 ms (missed cycles : 6).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.665ms + 3.79sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.79sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784819824.77096510 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.830ms + 4.14sWARNstate_estimatorOptimization exceeded the configured duration by 95855312ns + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446028 ms (missed cycles : 4).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.317ms + 4.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784819825.38997746 seconds. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.934ms + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.210ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.566ms + 5.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.582ms + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.714ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557748 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.783ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 14.088ms + 5.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.433ms + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.477ms + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.836ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229437 ms (missed cycles : 4).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.064ms + 6.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.767ms | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 22 warnings · 59 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.830362 ms (missed cycles : 6). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.830362 ms (missed cycles : 6).[0m ×2 + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721937 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721937 ms (missed cycles : 2).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162614 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162614 ms (missed cycles : 5).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 2.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987734 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987734 ms (missed cycles : 3).[0m ×2 + 3.89sINFOjoint_trajectory_controllerGoal reached, success! + 3.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.243ms + 3.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784819893.08946919 seconds ×3 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881883 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881883 ms (missed cycles : 6).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.145ms + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.106ms + 4.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784819893.68144798 seconds. ×3 + 4.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.53sINFOmove_groupClearing octomap...[0m ×2 + 4.53sINFOmove_groupOctomap cleared.[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 5.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 5.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.724602 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.724602 ms (missed cycles : 6).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 5.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 5.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784819894.95165038 seconds ×3 + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 5.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 6.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784819895.50770402 seconds. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195078 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195078 ms (missed cycles : 2).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 6.55sWARNstate_estimatorOptimization exceeded the configured duration by 95871427ns + 6.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784819895.90786386 seconds ×3 + 6.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.306ms | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 31.5s | 69 errors · 699 warnings · 1941 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/2026-07-23-15-07-19-510847-021b794291da-9260 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 12.96sINFOros2_control_node-9process started with pid [9318] + 12.96sINFOmove_group-21process started with pid [9408] + 12.96sINFOparameter_manager_node-22process started with pid [9409] + 12.96sINFOwaypoint_manager_node-23process started with pid [9412] + 12.96sINFOmove_joint_resampler_node-24process started with pid [9440] + 12.96sINFOmove_end_effector_resampler_node-25process started with pid [9441] + 12.96sINFOobjective_server_node_main-26process started with pid [9442] + 12.97sINFOcomponent_container_mt-27process started with pid [9443] + 12.97sINFOcomponent_container_mt-28process started with pid [9444] + 12.97sINFOexecute_objective_bridge-29process started with pid [9445] + 12.97sINFOui_teleop_bridge-30process started with pid [9446] + 12.97sINFOweb_bridge-31process started with pid [9447] + 12.97sINFOtf2_web_republisher_node-32process started with pid [9448] + 12.97sINFOweb_video_server-33process started with pid [9449] + 12.98sINFOweb_bridge_auth_proxy-34process started with pid [9455] + 12.98sINFOweb_video_auth_proxy-35process started with pid [9466] + 13.00sINFOcomponent_container_isolated-1process started with pid [9310] + 13.00sINFOstatic_transform_publisher-2process started with pid [9311] + 13.00sINFOodom_world_drift.py-3process started with pid [9312] + 13.00sINFOslip_aware_odom-4process started with pid [9313] + 13.00sINFOodom_qos_relay.py-5process started with pid [9314] + 13.00sINFOscan_to_scan_filter_chain-6process started with pid [9315] + 13.00sINFOscan_to_scan_filter_chain-7process started with pid [9316] + 13.00sINFOfixed_lag_smoother_node-8process started with pid [9317] + 13.00sINFOros2-10process started with pid [9396] + 13.00sINFOros2-11process started with pid [9397] + 13.00sINFOros2-12process started with pid [9398] + 13.01sINFOros2-13process started with pid [9399] + 13.01sINFOros2-14process started with pid [9400] + 13.01sINFOros2-15process started with pid [9401] + 13.01sINFOros2-16process started with pid [9402] + 13.01sINFOros2-17process started with pid [9403] + 13.01sINFOros2-18process started with pid [9404] + 13.01sINFOros2-19process started with pid [9405] + 13.01sINFOros2-20process started with pid [9406] + 13.11sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×3 + 13.11sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×3 + 13.11sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 13.11sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 13.11sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 13.12sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 13.12sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 13.12sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 13.12sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 13.12sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 13.12sWARNros2_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 + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837462 ms (missed cycles : 2).[0m + 13.13sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 13.14sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 13.15sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 13.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 13.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×3 + 13.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 13.37sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 13.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.40sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 13.52sINFOcomponent_container_mtRobot initialized[0m ×3 + 13.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 13.55sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 13.55sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 13.55sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 13.62sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 13.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 13.63sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.63sWARNscan_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 + 13.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 13.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 13.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 13.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 13.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 13.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 13.73sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 13.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 13.74sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 13.74sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 13.74sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×3 + 13.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 13.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 13.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 13.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 13.95sINFOmove_groupLoaded robot model in 0.651716 seconds[0m + 13.95sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 13.95sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 13.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387931 ms (missed cycles : 4).[0m + 14.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 14.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 14.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 14.52sINFOwaypoint_manager_nodeLoaded robot model in 0.572213 seconds[0m + 14.53sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 14.53sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.83sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×20 + 14.89sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 14.89sWARNmove_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 + 14.90sWARNmove_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 + 14.91sWARNmove_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.[0m ×3 + 14.91sWARNmove_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.[0m ×3 + 14.92sWARNmove_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.[0m ×3 + 14.92sWARNmove_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.[0m ×3 + 14.92sWARNmove_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 + 14.92sWARNmove_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 + 14.92sWARNmove_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 + 14.92sWARNmove_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 + 14.94sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 14.94sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863311 ms (missed cycles : 2).[0m + 15.29sINFOmove_group[2026-07-23 15:07:37.974] [moveit_pro_license] [info] + 15.29sINFOmove_group************************************************* ×6 + 15.29sINFOmove_group* MoveIt Pro License ×3 + 15.29sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 15.29sWARNwaypoint_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 + 15.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.30sWARNwaypoint_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 + 15.30sWARNwaypoint_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 + 15.30sWARNwaypoint_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 + 15.30sWARNwaypoint_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 + 15.30sWARNwaypoint_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 + 15.30sWARNwaypoint_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 + 15.31sWARNwaypoint_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 + 15.31sWARNwaypoint_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 + 15.31sWARNwaypoint_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 + 15.31sWARNwaypoint_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 + 15.32sWARNwaypoint_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 + 15.32sWARNwaypoint_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 + 15.32sWARNwaypoint_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 + 15.32sWARNwaypoint_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 + 15.32sWARNwaypoint_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 + 15.33sWARNwaypoint_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 + 15.33sWARNwaypoint_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 + 15.33sWARNwaypoint_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 + 15.33sWARNwaypoint_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 + 15.33sWARNwaypoint_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 + 15.34sWARNwaypoint_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 + 15.34sWARNwaypoint_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 + 15.34sWARNwaypoint_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 + 15.34sWARNwaypoint_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 + 15.59sINFOwaypoint_manager_node[2026-07-23 15:07:38.278] [moveit_pro_license] [info] + 15.59sINFOwaypoint_manager_node************************************************* ×6 + 15.59sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 15.59sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 15.63sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 15.64sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 15.64sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 15.64sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.64sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 15.64sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 15.64sINFOmove_groupStarting planning scene monitor[0m ×3 + 15.64sINFOmove_groupListening to '/planning_scene'[0m ×3 + 15.64sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 15.65sINFOmove_groupListening to 'collision_object'[0m ×3 + 15.65sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 15.77sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 15.77sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 15.77sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 15.77sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 15.77sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 15.77sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 15.77sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 15.77sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 15.77sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 15.77sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 15.77sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 15.77sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 15.77sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 15.77sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 15.77sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 15.77sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 15.77sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 15.78sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 15.78sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 15.78sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 15.82sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 15.84sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 15.84sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 15.89sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params__snvs74k --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_1vvy53cd --params-file /tmp/launch_params_1nucjll6 [0m + 15.92sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 15.93sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 15.93sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.93sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 15.94sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 15.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 15.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 15.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 15.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 15.96sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 16.09sINFOobjective_server_node[2026-07-23 15:07:38.776] [moveit_pro_license] [info] + 16.09sINFOobjective_server_node************************************************* ×8 + 16.09sINFOobjective_server_node* MoveIt Pro License ×4 + 16.09sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.15sINFOobjective_server_nodeLoaded robot model in 0.0243537 seconds[0m + 16.15sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 16.15sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913245 ms (missed cycles : 2).[0m + 16.33sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 16.33sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 16.35sINFOros2-14process has finished cleanly [pid 9400] + 16.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__snvs74k --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_1vvy53cd --params-file /tmp/launch_params_1nucjll6 [0m + 16.51sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 16.52sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.52sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.52sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 16.52sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.52sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.52sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 16.52sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.52sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.52sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.53sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.53sWARNobjective_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 + 16.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 16.54sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 16.59sINFOobjective_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 + 16.59sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 16.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 16.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 16.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 16.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 16.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 16.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 16.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 16.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 16.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 16.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 16.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 16.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.61sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.61sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 16.61sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 16.62sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 16.62sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 16.62sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 16.62sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 16.62sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 16.64sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 16.64sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 16.64sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 16.64sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 16.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 16.65sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 16.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.85sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 16.86sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 16.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 16.89sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 16.90sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×3 + 16.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 16.90sINFOros2_control_node[2026-07-23 15:07:39.589] [warning] No force/torque sensor configured. The VFC will ignore force references. + 16.91sINFOros2_control_node[2026-07-23 15:07:39.594] [info] Controller state will be published at 10 Hz. + 16.91sINFOros2_control_node[2026-07-23 15:07:39.596] [info] VelocityForceController 'on_configure' succeeded. + 17.05sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 17.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 17.05sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 17.06sWARNcomponent_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 + 17.12sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 17.13sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 17.17sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 17.17sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 17.17sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 17.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 17.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 17.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 17.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 17.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 17.23sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 17.23sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 17.24sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__snvs74k --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_1vvy53cd --params-file /tmp/launch_params_1nucjll6 [0m + 17.24sINFOros2-17process has finished cleanly [pid 9403] + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224381 ms (missed cycles : 2).[0m + 17.29sINFOmove_group ×12 + 17.29sINFOmove_group******************************************************** ×6 + 17.29sINFOmove_group* MoveGroup using: ×3 + 17.29sINFOmove_group* - apply_planning_scene_service ×3 + 17.29sINFOmove_group* - clear_octomap_service ×3 + 17.29sINFOmove_group* - get_group_urdf ×3 + 17.29sINFOmove_group* - load_geometry_from_file ×3 + 17.29sINFOmove_group* - get_planning_scene_service ×3 + 17.29sINFOmove_group* - kinematics_service ×3 + 17.29sINFOmove_group* - save_geometry_to_file ×3 + 17.29sINFOmove_group* - GetPlanningGroups ×3 + 17.29sINFOmove_group* - URDFPlanningSceneCapability ×3 + 17.29sINFOmove_group[0m ×3 + 17.29sINFOmove_group[92mYou can start planning now![0m ×3 + 17.32sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 17.32sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 17.32sINFOros2_control_nodeconfigure successful[0m ×9 + 17.40sINFOcomponent_container_mtLoaded robot model in 0.340158 seconds[0m + 17.40sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 17.41sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.79sWARNcomponent_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 + 17.79sWARNcomponent_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 + 17.79sWARNcomponent_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 + 17.79sWARNcomponent_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 + 17.79sWARNcomponent_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 + 17.79sWARNcomponent_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 + 17.79sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.80sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 17.80sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 17.80sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.80sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__snvs74k --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_1vvy53cd --params-file /tmp/launch_params_1nucjll6 [0m + 17.80sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.80sWARNcomponent_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 + 17.81sWARNcomponent_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 + 17.81sWARNcomponent_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 + 17.81sWARNcomponent_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 + 17.81sWARNcomponent_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 + 17.81sINFOros2-15process has finished cleanly [pid 9401] + 17.81sWARNcomponent_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 + 17.81sWARNcomponent_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 + 17.81sWARNcomponent_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 + 17.81sWARNcomponent_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 + 17.91sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 17.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 17.92sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 17.92sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 17.92sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 17.92sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 17.92sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 17.93sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 18.16sINFOcomponent_container_mt[2026-07-23 15:07:40.846] [moveit_pro_license] [info] + 18.16sINFOcomponent_container_mt************************************************* ×6 + 18.16sINFOcomponent_container_mt* MoveIt Pro License ×3 + 18.16sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 18.23sINFOros2-16process has finished cleanly [pid 9402] + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157715 ms (missed cycles : 2).[0m + 18.48sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 18.48sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 18.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 18.49sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 18.49sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 18.49sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 18.50sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__snvs74k --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_1vvy53cd --params-file /tmp/launch_params_1nucjll6 [0m + 18.53sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 18.53sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 18.54sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 18.55sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 18.63sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 18.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.66sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.66sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 18.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 18.89sINFOros2-10process has finished cleanly [pid 9396] + 18.91sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 18.91sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 18.91sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__snvs74k --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_1vvy53cd --params-file /tmp/launch_params_1nucjll6 [0m + 18.94sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 18.94sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 18.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 18.96sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531790 ms (missed cycles : 3).[0m + 19.36sINFOros2-13process has finished cleanly [pid 9399] + 19.61sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 19.61sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 19.62sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__snvs74k --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_1vvy53cd --params-file /tmp/launch_params_1nucjll6 [0m + 19.64sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 19.64sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 19.65sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 19.65sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 19.65sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 19.67sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 19.68sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 19.98sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 19.98sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 19.98sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__snvs74k --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_1vvy53cd --params-file /tmp/launch_params_1nucjll6 [0m + 20.06sINFOros2-12process has finished cleanly [pid 9398] + 20.07sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 20.07sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974951 ms (missed cycles : 3).[0m + 20.44sINFOros2_control_node[2026-07-23 15:07:43.127] [warning] No force/torque sensor configured. The VFC will ignore force references. + 20.44sINFOros2_control_node[2026-07-23 15:07:43.130] [info] Controller state will be published at 10 Hz. + 20.44sINFOros2_control_node[2026-07-23 15:07:43.132] [info] VelocityForceController 'on_configure' succeeded. + 20.82sINFOros2-18process has finished cleanly [pid 9404] + 21.08sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 21.08sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 21.09sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__snvs74k --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_1vvy53cd --params-file /tmp/launch_params_1nucjll6 [0m + 21.12sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 21.13sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 21.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 21.13sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673877 ms (missed cycles : 2).[0m + 21.49sINFOros2-11process has finished cleanly [pid 9397] + 21.77sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 21.77sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 21.85sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__snvs74k --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_1vvy53cd --params-file /tmp/launch_params_1nucjll6 [0m + 21.87sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 21.88sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 22.26sINFOros2_control_node[2026-07-23 15:07:44.948] [info] Controller state will be published at 20 Hz. + 22.26sINFOros2_control_node[2026-07-23 15:07:44.951] [info] JointVelocityController 'on_configure' succeeded. + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246059 ms (missed cycles : 4).[0m + 22.64sINFOros2-20process has finished cleanly [pid 9406] + 22.65sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 22.65sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 22.65sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__snvs74k --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_1vvy53cd --params-file /tmp/launch_params_1nucjll6 [0m + 22.73sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 22.73sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 23.12sINFOros2_control_node[2026-07-23 15:07:45.801] [info] Controller state will be published at 20 Hz. + 23.12sINFOros2_control_node[2026-07-23 15:07:45.805] [info] JointVelocityController 'on_configure' succeeded. + 23.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 23.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 23.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228081 ms (missed cycles : 4).[0m + 23.48sINFOros2-19process has finished cleanly [pid 9405] + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.892650 ms (missed cycles : 5).[0m + 25.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376333 ms (missed cycles : 3).[0m + 25.83sINFOros2_control_nodeMuJoCo sim: 1.15% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m + 26.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678165 ms (missed cycles : 3).[0m + 27.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764753 ms (missed cycles : 3).[0m + 28.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819271.05678010 seconds. + 28.38sINFOmove_groupClearing octomap...[0m ×4 + 28.38sINFOmove_groupOctomap cleared.[0m ×4 + 28.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819271.07699180 seconds + 28.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644782 ms (missed cycles : 4).[0m + 28.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819271.63246727 seconds. + 28.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819271.64263487 seconds + 29.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819272.19069266 seconds. + 29.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819272.34133124 seconds + 29.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.472600 ms (missed cycles : 6).[0m + 30.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819272.91996336 seconds. + 30.25sINFOobjective_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 + 30.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.25sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 30.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 30.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 30.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819272.99012756 seconds + 30.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270590 ms (missed cycles : 4).[0m + 30.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819273.54774046 seconds. + 30.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 30.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 30.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 30.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 31.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.776250 ms (missed cycles : 5).[0m + 31.92sINFOobjective_server_nodePlanning for 177 path waypoints. + 32.31sINFOros2_control_nodeReceived new action goal[0m ×13 + 32.31sINFOros2_control_nodeAccepted new action goal[0m ×13 + 32.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877818 ms (missed cycles : 2).[0m + 34.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540151 ms (missed cycles : 3).[0m + 35.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238975 ms (missed cycles : 4).[0m + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803429 ms (missed cycles : 3).[0m + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.917080 ms (missed cycles : 8).[0m + 38.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703797 ms (missed cycles : 3).[0m + 39.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.903560 ms (missed cycles : 5).[0m + 40.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533589 ms (missed cycles : 3).[0m + 41.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589668 ms (missed cycles : 3).[0m + 42.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825917 ms (missed cycles : 3).[0m + 43.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743608 ms (missed cycles : 2).[0m + 44.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520208 ms (missed cycles : 2).[0m + 45.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233411 ms (missed cycles : 4).[0m + 46.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289120 ms (missed cycles : 3).[0m + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342845 ms (missed cycles : 4).[0m + 48.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251167 ms (missed cycles : 2).[0m + 49.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417364 ms (missed cycles : 3).[0m + 50.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.166573 ms (missed cycles : 5).[0m + 51.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.724015 ms (missed cycles : 8).[0m + 52.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267251 ms (missed cycles : 2).[0m + 53.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637292 ms (missed cycles : 3).[0m + 54.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535913 ms (missed cycles : 3).[0m + 55.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.940191 ms (missed cycles : 5).[0m + 56.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566973 ms (missed cycles : 3).[0m + 57.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.180918 ms (missed cycles : 5).[0m + 58.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.331249 ms (missed cycles : 7).[0m + 59.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420702 ms (missed cycles : 4).[0m + 60.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.561875 ms (missed cycles : 7).[0m + 62.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170850 ms (missed cycles : 4).[0m + 63.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527607 ms (missed cycles : 3).[0m + 64.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883851 ms (missed cycles : 4).[0m + 65.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.407633 ms (missed cycles : 7).[0m + 66.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067360 ms (missed cycles : 3).[0m + 67.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860663 ms (missed cycles : 2).[0m + 68.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492635 ms (missed cycles : 3).[0m + 69.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.851599 ms (missed cycles : 5).[0m + 70.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726695 ms (missed cycles : 2).[0m + 71.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.201358 ms (missed cycles : 7).[0m + 72.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317256 ms (missed cycles : 7).[0m + 73.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439532 ms (missed cycles : 2).[0m + 73.90sINFOros2_control_nodeGoal reached, success![0m ×12 + 73.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784819316.61449432 seconds + 74.48sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784819317.17063689 seconds. + 74.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962896 ms (missed cycles : 3).[0m + 75.48sINFOobjective_server_nodeFound path in 0 iterations (2.4492e-05 s). + 75.49sINFOobjective_server_nodePath shortcutter: [X____X] + 75.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 75.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225350 ms (missed cycles : 3).[0m + 76.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991777 ms (missed cycles : 2).[0m + 77.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784819320.30079412 seconds + 77.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629249 ms (missed cycles : 3).[0m + 78.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784819320.85795426 seconds. + 78.52sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 78.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.487715 ms (missed cycles : 7).[0m + 79.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982999 ms (missed cycles : 5).[0m + 80.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 80.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554104 ms (missed cycles : 4).[0m + 81.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124412 ms (missed cycles : 3).[0m + 82.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778313 ms (missed cycles : 3).[0m + 83.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289390 ms (missed cycles : 4).[0m + 84.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557930 ms (missed cycles : 3).[0m + 85.84sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m + 85.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287408 ms (missed cycles : 2).[0m + 86.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.882963 ms (missed cycles : 8).[0m + 88.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.943370 ms (missed cycles : 8).[0m + 89.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827136 ms (missed cycles : 3).[0m + 90.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503397 ms (missed cycles : 2).[0m + 91.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.407832 ms (missed cycles : 6).[0m + 92.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122566 ms (missed cycles : 5).[0m + 93.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324892 ms (missed cycles : 2).[0m + 94.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.530852 ms (missed cycles : 6).[0m + 95.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080967 ms (missed cycles : 3).[0m + 96.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115906 ms (missed cycles : 3).[0m + 97.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393700 ms (missed cycles : 5).[0m + 98.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.165878 ms (missed cycles : 4).[0m + 99.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679751 ms (missed cycles : 2).[0m +100.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241536 ms (missed cycles : 2).[0m +101.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822597 ms (missed cycles : 3).[0m +102.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523180 ms (missed cycles : 2).[0m +103.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892659 ms (missed cycles : 3).[0m +104.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592992 ms (missed cycles : 3).[0m +105.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.213331 ms (missed cycles : 5).[0m +106.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630708 ms (missed cycles : 3).[0m +107.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850338 ms (missed cycles : 2).[0m +108.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743264 ms (missed cycles : 2).[0m +108.77sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +109.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.966699 ms (missed cycles : 5).[0m +110.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312368 ms (missed cycles : 4).[0m +111.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.573892 ms (missed cycles : 6).[0m +112.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733231 ms (missed cycles : 3).[0m +113.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795733 ms (missed cycles : 3).[0m +115.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.452493 ms (missed cycles : 4).[0m +116.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999460 ms (missed cycles : 3).[0m +117.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399396 ms (missed cycles : 2).[0m +118.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502974 ms (missed cycles : 2).[0m +119.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194011 ms (missed cycles : 3).[0m +120.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.017037 ms (missed cycles : 5).[0m +121.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710405 ms (missed cycles : 2).[0m +122.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687372 ms (missed cycles : 5).[0m +123.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530062 ms (missed cycles : 3).[0m +124.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611768 ms (missed cycles : 3).[0m +125.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276643 ms (missed cycles : 3).[0m +126.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130765 ms (missed cycles : 2).[0m +127.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341329 ms (missed cycles : 3).[0m +128.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677974 ms (missed cycles : 3).[0m +129.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951432 ms (missed cycles : 5).[0m +130.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342988 ms (missed cycles : 4).[0m +131.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995554 ms (missed cycles : 3).[0m +132.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.195912 ms (missed cycles : 6).[0m +133.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885072 ms (missed cycles : 2).[0m +134.34sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784819377.02813148 seconds +134.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461802 ms (missed cycles : 3).[0m +134.93sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784819377.61509943 seconds. +135.29sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). +135.31sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +135.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315740 ms (missed cycles : 4).[0m +136.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252587 ms (missed cycles : 3).[0m +137.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451971 ms (missed cycles : 3).[0m +138.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375631 ms (missed cycles : 5).[0m +139.03sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784819381.71527910 seconds +139.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.296428 ms (missed cycles : 7).[0m +140.60sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784819383.28489590 seconds. +141.00sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 +141.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618425 ms (missed cycles : 3).[0m +142.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645914 ms (missed cycles : 3).[0m +142.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +143.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171280 ms (missed cycles : 2).[0m +144.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243474 ms (missed cycles : 2).[0m +145.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313137 ms (missed cycles : 2).[0m +145.84sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +146.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813516 ms (missed cycles : 3).[0m +147.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121396 ms (missed cycles : 2).[0m +148.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817226 ms (missed cycles : 5).[0m +149.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804815 ms (missed cycles : 2).[0m +150.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222621 ms (missed cycles : 2).[0m +151.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614268 ms (missed cycles : 4).[0m +152.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009365 ms (missed cycles : 2).[0m +153.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966314 ms (missed cycles : 2).[0m +154.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483860 ms (missed cycles : 3).[0m +155.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.936228 ms (missed cycles : 5).[0m +156.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354242 ms (missed cycles : 2).[0m +157.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580606 ms (missed cycles : 3).[0m +158.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728321 ms (missed cycles : 2).[0m +159.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369461 ms (missed cycles : 3).[0m +160.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403514 ms (missed cycles : 3).[0m +161.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677375 ms (missed cycles : 2).[0m +162.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746280 ms (missed cycles : 2).[0m +163.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629210 ms (missed cycles : 2).[0m +164.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522939 ms (missed cycles : 4).[0m +165.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587015 ms (missed cycles : 3).[0m +166.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922244 ms (missed cycles : 2).[0m +167.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860612 ms (missed cycles : 2).[0m +168.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629431 ms (missed cycles : 3).[0m +169.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.200062 ms (missed cycles : 10).[0m +170.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074414 ms (missed cycles : 3).[0m +170.94sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784819413.62505841 seconds +171.50sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784819414.18733144 seconds. +171.85sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 +171.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600076 ms (missed cycles : 3).[0m +172.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.398141 ms (missed cycles : 7).[0m +173.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 +173.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325851 ms (missed cycles : 2).[0m +174.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881013 ms (missed cycles : 4).[0m +175.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344366 ms (missed cycles : 3).[0m +176.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168922 ms (missed cycles : 4).[0m +178.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570480 ms (missed cycles : 2).[0m +179.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081195 ms (missed cycles : 5).[0m +180.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767364 ms (missed cycles : 2).[0m +181.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959024 ms (missed cycles : 3).[0m +182.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763551 ms (missed cycles : 2).[0m +183.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571657 ms (missed cycles : 3).[0m +184.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490799 ms (missed cycles : 4).[0m +185.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535489 ms (missed cycles : 3).[0m +186.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.941181 ms (missed cycles : 7).[0m +187.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.676213 ms (missed cycles : 5).[0m +188.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637355 ms (missed cycles : 2).[0m +189.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644566 ms (missed cycles : 2).[0m +190.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980930 ms (missed cycles : 5).[0m +191.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451191 ms (missed cycles : 3).[0m +192.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705677 ms (missed cycles : 5).[0m +193.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.619804 ms (missed cycles : 9).[0m +194.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.364212 ms (missed cycles : 7).[0m +195.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059300 ms (missed cycles : 2).[0m +196.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872793 ms (missed cycles : 3).[0m +197.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802947 ms (missed cycles : 2).[0m +198.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731621 ms (missed cycles : 3).[0m +199.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590885 ms (missed cycles : 3).[0m +200.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549792 ms (missed cycles : 3).[0m +201.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226579 ms (missed cycles : 2).[0m +202.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502165 ms (missed cycles : 4).[0m +203.21sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. +203.22sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. +203.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784819445.90756059 seconds +203.89sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784819446.57406187 seconds. +203.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636640 ms (missed cycles : 3).[0m +204.23sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). +204.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068549 ms (missed cycles : 2).[0m +205.84sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 +205.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849891 ms (missed cycles : 2).[0m +206.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839389 ms (missed cycles : 3).[0m +208.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551077 ms (missed cycles : 3).[0m +209.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834274 ms (missed cycles : 5).[0m +210.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137067 ms (missed cycles : 2).[0m +211.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.980602 ms (missed cycles : 7).[0m +212.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795901 ms (missed cycles : 2).[0m +213.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.698403 ms (missed cycles : 5).[0m +214.12sINFOros2_control_nodeGot request to cancel goal[0m +214.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +214.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784819456.83352304 seconds +214.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139921 ms (missed cycles : 5).[0m +214.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784819457.39609504 seconds. +215.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460839 ms (missed cycles : 3).[0m +216.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678070 ms (missed cycles : 2).[0m +217.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306799 ms (missed cycles : 3).[0m +218.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.296229 ms (missed cycles : 7).[0m +219.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.673630 ms (missed cycles : 6).[0m +220.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.964515 ms (missed cycles : 5).[0m +221.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628235 ms (missed cycles : 5).[0m +222.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006331 ms (missed cycles : 2).[0m +223.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580525 ms (missed cycles : 3).[0m +224.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561726 ms (missed cycles : 3).[0m +225.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999868 ms (missed cycles : 3).[0m +226.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285499 ms (missed cycles : 2).[0m +227.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663871 ms (missed cycles : 2).[0m +228.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498322 ms (missed cycles : 2).[0m +229.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683991 ms (missed cycles : 3).[0m +230.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963441 ms (missed cycles : 2).[0m +232.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375739 ms (missed cycles : 4).[0m +233.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628624 ms (missed cycles : 3).[0m +234.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243315 ms (missed cycles : 2).[0m +235.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920502 ms (missed cycles : 2).[0m +236.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.989165 ms (missed cycles : 8).[0m +237.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700249 ms (missed cycles : 4).[0m +238.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.909690 ms (missed cycles : 5).[0m +239.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522928 ms (missed cycles : 5).[0m +240.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056789 ms (missed cycles : 2).[0m +241.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352304 ms (missed cycles : 3).[0m +242.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632924 ms (missed cycles : 5).[0m +243.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947480 ms (missed cycles : 3).[0m +244.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527649 ms (missed cycles : 4).[0m +245.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918013 ms (missed cycles : 3).[0m +245.99sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. +246.00sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. +246.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784819488.68631101 seconds +246.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.257174 ms (missed cycles : 7).[0m +246.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784819489.30794573 seconds. +246.98sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). +247.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385285 ms (missed cycles : 2).[0m +248.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496496 ms (missed cycles : 3).[0m +249.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616147 ms (missed cycles : 2).[0m +250.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962785 ms (missed cycles : 4).[0m +251.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920973 ms (missed cycles : 3).[0m +252.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542185 ms (missed cycles : 3).[0m +253.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100296 ms (missed cycles : 2).[0m +254.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468558 ms (missed cycles : 3).[0m +255.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805922 ms (missed cycles : 2).[0m +256.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003626 ms (missed cycles : 4).[0m +257.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975861 ms (missed cycles : 2).[0m +258.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973043 ms (missed cycles : 3).[0m +259.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146422 ms (missed cycles : 3).[0m +260.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.023733 ms (missed cycles : 5).[0m +261.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012785 ms (missed cycles : 3).[0m +263.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613324 ms (missed cycles : 6).[0m +264.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221207 ms (missed cycles : 2).[0m +265.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595985 ms (missed cycles : 3).[0m +266.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.964995 ms (missed cycles : 6).[0m +267.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.621415 ms (missed cycles : 6).[0m +268.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799675 ms (missed cycles : 2).[0m +269.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.982412 ms (missed cycles : 8).[0m +270.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670381 ms (missed cycles : 2).[0m +271.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998269 ms (missed cycles : 3).[0m +272.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210846 ms (missed cycles : 2).[0m +273.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512432 ms (missed cycles : 3).[0m +274.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791984 ms (missed cycles : 6).[0m +275.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.353693 ms (missed cycles : 5).[0m +276.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308259 ms (missed cycles : 2).[0m +277.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663046 ms (missed cycles : 4).[0m +278.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471916 ms (missed cycles : 4).[0m +279.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.832065 ms (missed cycles : 6).[0m +280.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863113 ms (missed cycles : 2).[0m +281.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866159 ms (missed cycles : 3).[0m +282.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846615 ms (missed cycles : 3).[0m +283.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989961 ms (missed cycles : 3).[0m +285.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839937 ms (missed cycles : 5).[0m +286.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171760 ms (missed cycles : 2).[0m +287.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196677 ms (missed cycles : 3).[0m +288.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601563 ms (missed cycles : 3).[0m +289.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.666458 ms (missed cycles : 6).[0m +290.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164294 ms (missed cycles : 4).[0m +291.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827411 ms (missed cycles : 3).[0m +292.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740690 ms (missed cycles : 3).[0m +293.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039217 ms (missed cycles : 5).[0m +294.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738595 ms (missed cycles : 3).[0m +295.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803527 ms (missed cycles : 2).[0m +296.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389144 ms (missed cycles : 3).[0m +297.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.946174 ms (missed cycles : 6).[0m +298.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.676022 ms (missed cycles : 6).[0m +299.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964748 ms (missed cycles : 2).[0m +300.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973610 ms (missed cycles : 3).[0m +301.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784819543.93809342 seconds +301.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928197 ms (missed cycles : 2).[0m +301.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784819544.49899888 seconds. +302.16sINFOobjective_server_nodeFound path in 0 iterations (9.5e-07 s). +302.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021387 ms (missed cycles : 2).[0m +303.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545527 ms (missed cycles : 3).[0m +304.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213077 ms (missed cycles : 5).[0m +305.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650493 ms (missed cycles : 2).[0m +306.49sINFOobjective_server_nodeFound path in 0 iterations (1.09e-06 s). +306.52sINFOobjective_server_nodePath shortcutter: [X__________________X] +306.56sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). +306.59sINFOobjective_server_nodePath shortcutter: [X____________________X] +306.63sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 +306.69sINFOobjective_server_nodePath shortcutter: [X_________________________X] +306.73sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). +306.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750480 ms (missed cycles : 5).[0m +306.89sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +307.17sINFOobjective_server_nodeFound path in 29 iterations (0.0249058 s). +307.41sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_____X] +307.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.059225 ms (missed cycles : 6).[0m +307.90sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +307.96sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). +308.27sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +308.53sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +308.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579733 ms (missed cycles : 4).[0m +309.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850338 ms (missed cycles : 2).[0m +310.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972581 ms (missed cycles : 2).[0m +312.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142877 ms (missed cycles : 5).[0m +313.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352084 ms (missed cycles : 4).[0m +314.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068535 ms (missed cycles : 4).[0m +314.54sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784819557.22559357 seconds +315.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006792 ms (missed cycles : 5).[0m +315.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784819557.83178234 seconds. +315.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784819558.28270698 seconds +316.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594928 ms (missed cycles : 3).[0m +316.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784819558.83907080 seconds. +316.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784819559.48926091 seconds +317.03sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +318.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276563 ms (missed cycles : 2).[0m +318.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.141600 ms (missed cycles : 7).[0m +319.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632307 ms (missed cycles : 3).[0m +320.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.662711 ms (missed cycles : 6).[0m +321.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.738973 ms (missed cycles : 6).[0m +322.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777218 ms (missed cycles : 3).[0m +323.10sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.11sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.11sERRORweb_video_server-33process[web_video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.12sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.12sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.12sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.13sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.13sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.13sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.14sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.14sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.15sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.15sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.15sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.16sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.16sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.16sERRORfixed_lag_smoother_node-8process[fixed_lag_smoother_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.17sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.18sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.18sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] +323.20sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.20sERRORweb_video_auth_proxy-35process has died [pid 9466, 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']. +323.20sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.21sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.21sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.21sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +323.22sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] +323.24sINFOweb_video_server-33sending signal 'SIGTERM' to process[web_video_server-33] +323.26sERRORweb_bridge_auth_proxy-34process has died [pid 9455, 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']. +323.26sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] +323.28sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] +323.31sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] +323.33sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] +323.35sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] +323.38sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] +323.41sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] +323.43sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] +323.46sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] +323.49sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] +323.52sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] +323.54sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9448] +323.54sINFOweb_video_server-33process has finished cleanly [pid 9449] +323.55sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] +323.58sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] +323.61sINFOfixed_lag_smoother_node-8sending signal 'SIGTERM' to process[fixed_lag_smoother_node-8] +323.64sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +323.64sERRORmove_group-21process has died [pid 9408, 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_mv6wg2qd --params-file /tmp/launch_params_1lxjsfiv --params-file /tmp/launch_params_ld40tu26 --params-file /tmp/launch_params_zajiqg3_ --params-file /tmp/launch_params_a5x61bqc --params-file /tmp/launch_params_c37mhfkk']. +323.64sERRORui_teleop_bridge-30process has died [pid 9446, 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_90xfaskd']. +323.67sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +323.67sINFOcomponent_container_mt-28process has finished cleanly [pid 9444] +323.69sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +323.69sINFOexecute_objective_bridge-29process has finished cleanly [pid 9445] +323.71sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] +323.73sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] +323.75sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +323.76sERRORobjective_server_node_main-26process has died [pid 9442, 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_ht2exbwh --params-file /tmp/launch_params_hyc31flr --params-file /tmp/launch_params_6unzb7le --params-file /tmp/launch_params_kvbvn508 --params-file /tmp/launch_params_b3fpp13z --params-file /tmp/launch_params_du_8ahns --params-file /tmp/launch_params_6hs9oaiq --params-file /tmp/launch_params_usq6vju8 --params-file /tmp/launch_params_ou44csv6']. +323.78sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +323.78sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system +323.78sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +323.78sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +323.78sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +323.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.623773 ms (missed cycles : 6).[0m +323.78sERRORui_teleop_bridgeTraceback (most recent call last): +323.78sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +323.78sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +323.78sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.78sINFOui_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 +323.78sINFOui_teleop_bridgerclpy.shutdown() +323.78sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +323.78sINFOui_teleop_bridge_shutdown(context=context) +323.78sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +323.78sINFOui_teleop_bridgecontext.shutdown() +323.78sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +323.78sINFOui_teleop_bridgeself.__context.shutdown() +323.78sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +323.78sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +323.79sINFOobjective_server_node[0;m[0m[INFO] [2026-07-23 15:12:46.963] signal_handler(SIGINT/SIGTERM)[0m +323.79sINFOcomponent_container_mtStopping planning scene monitor[0m +323.79sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +323.79sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +323.79sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +323.79sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system +323.79sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +323.79sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +323.79sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +323.79sERRORmove_groupwhat(): context cannot be slept with because it's invalid +323.79sERRORmove_groupStack trace (most recent call last) in thread 10064: +323.79sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +323.79sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f86401b5a63, in __clone +323.79sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8640128aa3, in +323.79sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f86403badb3, in +323.79sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f8640afded7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +323.79sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f864072d4d0, in rclcpp::Rate::sleep() +323.79sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8640680a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +323.79sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8640645a71, in +323.79sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8640389390, in __cxa_throw +323.79sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8640373a54, in std::terminate() +323.79sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f86403890d9, in +323.80sINFOobjective_server_node[2026-07-23 15:12:46.250] [moveit_pro_license] [info] +323.80sINFOobjective_server_node* Application has successfully terminated +323.80sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8640373ff4, in +323.80sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f86400b48fe, in abort +323.80sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f86400d127d, in raise +323.80sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f864012ab2c, in pthread_kill +323.80sERRORmove_groupAborted (Signal sent by tkill() 9408 0) +323.80sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +323.80sINFOros2_control_nodeShutdown request received....[0m +323.80sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +323.80sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +323.80sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +323.80sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +323.80sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +323.80sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +323.80sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +323.80sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +323.80sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +323.80sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +323.80sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +323.80sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +323.80sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +323.80sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +323.80sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +323.80sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +323.80sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +323.80sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +323.80sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +323.80sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +323.80sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +323.80sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +323.80sINFOros2_control_nodeShutting down the controller manager.[0m +323.80sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +323.80sERRORobjective_server_nodeStack trace (most recent call last): +323.80sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +323.80sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5586e38006a4, in _start +323.80sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0c78b5a28a, in __libc_start_main +323.80sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0c78b5a1d0, in +323.80sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0c78b77bbd, in exit +323.80sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0c78b77a75, in +323.80sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f0c790468f5, in spdlog::details::registry::~registry() +323.80sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5586e3800d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +323.80sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5586e3807315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +323.80sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5586e38065a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +323.80sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5586e3802b7b, in spdlog_ros::RosSink::~RosSink() +323.80sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5586e3800d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +323.80sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c796fc454, in rclcpp::Node::~Node() +323.80sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c796b7515, in +323.80sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c796fad20, in +323.80sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c796fac63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +323.80sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c796b75d9, in +323.80sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c796bc161, in rclcpp::CallbackGroup::~CallbackGroup() +323.80sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f0c3d05b090]) +323.81sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +323.81sERRORodom_qos_relay.pyTraceback (most recent call last): +323.81sINFOodom_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> +323.81sINFOodom_qos_relay.pymain() +323.81sINFOodom_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 +323.81sINFOodom_qos_relay.pyrclpy.spin(node) +323.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +323.81sINFOodom_qos_relay.pyexecutor.spin_once() +323.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +323.81sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +323.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +323.81sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +323.81sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +323.81sINFOodom_qos_relay.pyreturn next(self._cb_iter) +323.81sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +323.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +323.81sINFOodom_qos_relay.pyraise ExternalShutdownException() +323.81sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +323.81sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m +323.81sERRORodom_world_drift.pyTraceback (most recent call last): +323.81sINFOodom_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> +323.81sINFOodom_world_drift.pymain() +323.81sINFOodom_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 +323.81sINFOodom_world_drift.pyrclpy.spin(node) +323.81sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +323.81sINFOodom_world_drift.pyexecutor.spin_once() +323.82sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +323.82sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) +323.82sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +323.82sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( +323.82sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +323.82sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +323.82sINFOodom_world_drift.pyreturn next(self._cb_iter) +323.82sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ +323.82sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +323.82sINFOodom_world_drift.pyraise ExternalShutdownException() +323.82sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException +323.82sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system +323.82sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m +323.82sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +323.82sINFOros2_control_nodeAsync messages lost 0[0m ×2 +323.83sINFOros2_control_nodepublish_async_failures_ 3[0m +323.83sINFOros2_control_nodepublish_async_failures_ 5[0m +324.21sERRORcomponent_container_isolated-1process has died [pid 9310, 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_0h907vzv --params-file /tmp/launch_params_yz4xqwh4 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +324.49sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9441] +324.52sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9440] +324.60sINFOparameter_manager_node-22process has finished cleanly [pid 9409] +324.61sINFOwaypoint_manager_node-23process has finished cleanly [pid 9412] +324.64sINFOcomponent_container_mt-27process has finished cleanly [pid 9443] +324.69sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9316] +324.71sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9315] +324.74sINFOfixed_lag_smoother_node-8process has finished cleanly [pid 9317] +324.75sINFOslip_aware_odom-4process has finished cleanly [pid 9313] +324.79sERRORodom_qos_relay.py-5process has died [pid 9314, 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']. +324.80sINFOstatic_transform_publisher-2process has finished cleanly [pid 9311] +325.82sERRORodom_world_drift.py-3process has died [pid 9312, 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_3vbtbkt4']. +326.27sINFOweb_bridge-31process has finished cleanly [pid 9447] +326.27sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system +326.41sINFOros2_control_node-9process has finished cleanly [pid 9318] +334.32sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-23-15-12-53-821290-021b794291da-13089 ×2 +347.06sINFOstatic_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' +347.21sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +347.21sINFOstate_estimatorReceived a set_pose request (stamp: 1784819589903682505, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +347.24sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +347.25sINFOcontroller_managerupdate rate is 600 Hz +347.25sINFOcontroller_managerOverruns handling is : enabled +347.25sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +347.25sWARNcontroller_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. +347.27sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +347.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +347.30sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +347.32sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. +347.32sINFOros2_control_node-9process started with pid [13147] ×2 +347.33sINFOmove_group-21process started with pid [13236] ×2 +347.33sINFOparameter_manager_node-22process started with pid [13237] ×2 +347.33sINFOwaypoint_manager_node-23process started with pid [13238] ×2 +347.33sINFOmove_joint_resampler_node-24process started with pid [13246] ×2 +347.33sINFOmove_end_effector_resampler_node-25process started with pid [13247] ×2 +347.33sINFOobjective_server_node_main-26process started with pid [13248] ×2 +347.33sINFOcomponent_container_mt-27process started with pid [13249] ×2 +347.33sINFOcomponent_container_mt-28process started with pid [13250] ×2 +347.33sINFOexecute_objective_bridge-29process started with pid [13252] ×2 +347.33sINFOui_teleop_bridge-30process started with pid [13253] ×2 +347.33sINFOweb_bridge-31process started with pid [13254] ×2 +347.33sINFOtf2_web_republisher_node-32process started with pid [13275] ×2 +347.33sINFOweb_video_server-33process started with pid [13285] ×2 +347.33sINFOweb_bridge_auth_proxy-34process started with pid [13304] ×2 +347.33sINFOweb_video_auth_proxy-35process started with pid [13315] ×2 +347.34sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +347.35sINFOcomponent_container_isolated-1process started with pid [13139] ×2 +347.35sINFOstatic_transform_publisher-2process started with pid [13140] ×2 +347.35sINFOodom_world_drift.py-3process started with pid [13141] ×2 +347.35sINFOslip_aware_odom-4process started with pid [13142] ×2 +347.35sINFOodom_qos_relay.py-5process started with pid [13143] ×2 +347.35sINFOscan_to_scan_filter_chain-6process started with pid [13144] ×2 +347.35sINFOscan_to_scan_filter_chain-7process started with pid [13145] ×2 +347.35sINFOfixed_lag_smoother_node-8process started with pid [13146] ×2 +347.35sINFOros2-10process started with pid [13218] ×2 +347.35sINFOros2-11process started with pid [13219] ×2 +347.35sINFOros2-12process started with pid [13220] ×2 +347.35sINFOros2-13process started with pid [13222] ×2 +347.35sINFOros2-14process started with pid [13228] ×2 +347.35sINFOros2-15process started with pid [13230] ×2 +347.35sINFOros2-16process started with pid [13231] ×2 +347.35sINFOros2-17process started with pid [13232] ×2 +347.35sINFOros2-18process started with pid [13233] ×2 +347.35sINFOros2-19process started with pid [13234] ×2 +347.35sINFOros2-20process started with pid [13235] ×2 +347.36sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +347.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +347.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +347.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +347.44sINFOcontroller_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. +347.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.025306 ms (missed cycles : 5). +347.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.025306 ms (missed cycles : 5).[0m ×2 +347.51sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +347.52sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +347.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +347.53sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +347.54sINFOcontroller_serverCreating controller server +347.56sINFOlocal_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. +347.57sINFOlocal_costmap.local_costmapCreating Costmap +347.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +347.62sINFOrobot_state_publisherRobot initialized +347.62sINFOcontroller_managerReceived robot description from topic. +347.62sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +347.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +347.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +347.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +347.64sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +347.64sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +347.66sINFOmap_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. +347.66sINFOmap_serverCreating +347.67sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +347.67sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +347.67sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +347.68sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +347.72sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +347.72sINFOsmoother_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. +347.72sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +347.72sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +347.72sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +347.72sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +347.72sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +347.72sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +347.72sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +347.72sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 +347.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +347.74sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +347.75sINFOsmoother_serverCreating smoother server +347.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +347.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +347.77sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +347.77sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +347.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +347.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +347.83sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +347.86sINFOplanner_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. +347.88sINFOplanner_serverCreating +347.93sINFOglobal_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. +347.94sINFOglobal_costmap.global_costmapCreating Costmap +347.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +347.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +347.96sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +347.98sINFOlifecycle_manager_localizationCreating +348.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +348.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +348.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +348.01sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +348.01sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +348.01sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +348.01sINFOmap_serverConfiguring +348.04sINFObehavior_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. +348.07sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +348.07sINFOamclConfiguring +348.08sWARNlaser_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. +348.08sWARNlaser_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. +348.08sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +348.08sINFOmap_serverActivating +348.08sINFOmap_serverCreating bond (map_server) to lifecycle manager. +348.10sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +348.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +348.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +348.16sINFObt_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. +348.17sINFObt_navigatorCreating +348.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +348.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +348.19sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +348.20sINFOlifecycle_manager_localizationServer map_server connected with bond. +348.20sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +348.20sINFOamclActivating +348.21sINFOamclSubscribed to initial_pose_topic: /initialpose +348.21sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +348.25sINFOamclSubscribed to map_topic: /map +348.25sINFOamclSubscribed to scan_topic: /scan_merged +348.26sINFOamclCreated reinitialize_global_localization service +348.26sINFOamclCreated request_nomotion_update service +348.27sINFOamclA new map was received +348.27sINFOamclInitializing particle filter instance +348.29sINFOwaypoint_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. +348.30sINFOwaypoint_followerCreating +348.31sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +348.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +348.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +348.36sINFOvelocity_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. +348.42sINFOlifecycle_manager_navigationCreating +348.43sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +348.46sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +348.46sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +348.46sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.46793 seconds +348.46sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +348.46sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +348.46sINFOmove_groupLoaded robot model in 0.46793 seconds[0m ×2 +348.47sINFOcontroller_serverConfiguring controller interface +348.47sINFOcontroller_servergetting progress checker plugins.. +348.47sINFOcontroller_servergetting goal checker plugins.. +348.47sINFOcontroller_serverController frequency set to 20.0000Hz +348.47sINFOlocal_costmap.local_costmapConfiguring +348.49sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +348.50sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +348.56sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +348.56sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +348.57sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +348.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975223 ms (missed cycles : 2). +348.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975223 ms (missed cycles : 2).[0m ×2 +348.63sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +348.65sINFOcontroller_serverController Server has progress_checker progress checkers available. +348.65sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +348.65sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +348.65sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +348.70sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +348.72sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +348.72sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +348.73sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +348.73sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +348.75sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +348.75sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +348.75sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +348.75sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +348.77sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +348.77sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +348.77sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +348.79sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +348.79sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +348.79sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +348.79sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +348.81sINFOcontroller_serverOptimizer reset +348.83sINFOcontroller_serverController Server has FollowPath controllers available. +348.85sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +348.85sINFOsmoother_serverConfiguring smoother server +348.87sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +348.87sINFOamclParticle filter initialization completed +348.87sINFOamclInitializing particles from estimated pose and covariance +348.88sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 +348.88sINFOamclThe bond connection to the lifecycle manager is now fully formed +348.88sINFOlifecycle_manager_localizationServer amcl connected with bond. +348.88sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +348.88sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +348.89sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +348.90sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +348.90sINFOplanner_serverConfiguring +348.90sINFOglobal_costmap.global_costmapConfiguring +348.92sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +348.93sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +348.94sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +348.94sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +348.95sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +349.01sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +349.01sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +349.02sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +349.04sINFOwaypoint_manager_nodeLoaded robot model in 0.479195 seconds[0m ×2 +349.07sFATALplanner_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 +349.07sINFOplanner_serverCleaning up +349.07sINFOglobal_costmap.global_costmapCleaning up +349.07sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +349.37sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +349.37sWARNmove_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. +349.37sWARNmove_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. +349.37sWARNmove_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. +349.37sWARNmove_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. +349.37sWARNmove_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. +349.37sWARNmove_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. +349.37sWARNmove_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. +349.37sWARNmove_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. +349.37sWARNmove_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. +349.37sWARNmove_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. +349.44sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +349.44sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +349.57sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +349.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106223 ms (missed cycles : 2). +349.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106223 ms (missed cycles : 2).[0m ×2 +349.68sWARNwaypoint_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. +349.68sWARNwaypoint_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. +349.68sWARNwaypoint_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. +349.68sWARNwaypoint_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. +349.69sWARNwaypoint_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. +349.69sWARNwaypoint_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. +349.69sWARNwaypoint_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. +349.69sWARNwaypoint_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. +349.70sWARNwaypoint_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. +349.70sWARNwaypoint_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. +349.70sWARNwaypoint_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. +349.70sWARNwaypoint_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. +349.71sWARNwaypoint_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. +349.71sWARNwaypoint_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. +349.71sWARNwaypoint_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. +349.71sWARNwaypoint_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. +349.71sWARNwaypoint_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. +349.72sWARNwaypoint_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. +349.72sWARNwaypoint_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. +349.72sWARNwaypoint_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. +349.72sWARNwaypoint_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. +349.72sWARNwaypoint_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. +349.72sWARNwaypoint_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. +349.72sWARNwaypoint_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. +349.72sWARNwaypoint_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. +349.72sWARNwaypoint_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. +349.72sWARNwaypoint_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. +349.72sWARNwaypoint_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. +349.76sINFOmove_group[2026-07-23 15:13:12.444] [moveit_pro_license] [info] ×2 +350.04sINFOwaypoint_manager_node[2026-07-23 15:13:12.730] [moveit_pro_license] [info] ×2 +350.10sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +350.10sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +350.10sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +350.10sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +350.10sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +350.11sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +350.11sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +350.11sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +350.11sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +350.11sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +350.11sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +350.22sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +350.22sINFOcontroller_managerActivating component 'ur_mujoco_control'. +350.22sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +350.22sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +350.28sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +350.28sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +350.32sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +350.32sINFOcontroller_managerLoading controller 'platform_velocity_controller' +350.35sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc +350.35sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc [0m ×2 +350.40sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +350.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +350.42sINFOplatform_velocity_controllerconfigure successful +350.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +350.42sINFOcontroller_managerSuccessfully switched controllers! ×8 +350.43sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +350.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934435 ms (missed cycles : 3). +350.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934435 ms (missed cycles : 3).[0m ×2 +350.67sINFOobjective_server_node[2026-07-23 15:13:13.362] [moveit_pro_license] [info] ×2 +350.75sINFOobjective_server_nodeLoaded robot model in 0.0285291 seconds[0m ×2 +350.79sINFOros2-13process has finished cleanly [pid 13222] ×2 +350.79sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +350.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +350.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +350.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +350.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +350.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +350.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +350.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +350.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +350.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +350.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +350.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +350.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +350.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +350.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +350.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +350.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +350.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +350.86sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +350.90sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +351.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +351.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' +351.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +351.09sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +351.12sERRORobjective_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. +351.13sWARNobjective_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. +351.13sWARNobjective_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. +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +351.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +351.16sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +351.20sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +351.20sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +351.20sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +351.20sINFOstreaming_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) +351.20sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +351.22sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc +351.22sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc [0m ×2 +351.24sWARNstate_estimatorOptimization exceeded the configured duration by 5280946ns +351.28sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +351.28sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +351.40sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +351.46sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +351.46sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +351.47sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784819593.052 for reason 'discarding message because the queue is full' +351.49sINFOstreaming_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) +351.51sINFOcomponent_container_mtLoaded robot model in 0.404468 seconds[0m ×2 +351.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786733 ms (missed cycles : 2). +351.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786733 ms (missed cycles : 2).[0m ×2 +351.73sINFOmove_groupMoveGroup debug mode is ON +351.74sINFOros2_control_node[2026-07-23 15:13:14.422] [info] Controller state will be published at 20 Hz. ×2 +351.74sINFOros2_control_node[2026-07-23 15:13:14.424] [info] JointVelocityController 'on_configure' succeeded. ×2 +351.89sWARNplanning_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. +351.89sWARNplanning_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. +351.89sWARNplanning_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. +351.89sWARNplanning_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. +351.89sWARNplanning_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. +351.90sWARNplanning_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. +351.90sWARNplanning_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. +351.90sWARNplanning_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. +351.90sWARNplanning_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. +351.90sWARNplanning_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. +351.90sWARNplanning_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. +351.90sWARNplanning_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. +351.90sWARNplanning_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. +351.90sWARNplanning_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. +351.91sWARNplanning_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. +351.91sWARNplanning_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. +351.91sWARNplanning_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. +351.91sWARNplanning_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. +351.91sWARNplanning_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. +351.91sWARNplanning_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. +351.91sWARNplanning_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. +351.91sWARNplanning_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. +351.91sWARNplanning_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. +351.91sINFOmove_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
********************************************************
+351.91sWARNplanning_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. +351.91sWARNplanning_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. +351.91sWARNplanning_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. +351.92sWARNplanning_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. +351.92sWARNplanning_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. +352.12sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... +352.13sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +352.13sINFOcontroller_managerLoading controller 'vacuum_gripper' +352.13sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc +352.13sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc [0m ×2 +352.14sINFOros2-19process has finished cleanly [pid 13234] ×2 +352.16sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +352.17sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +352.17sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +352.17sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +352.24sINFOcomponent_container_mt[2026-07-23 15:13:14.924] [moveit_pro_license] [info] ×2 +352.39sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +352.40sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +352.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644661 ms (missed cycles : 4). +352.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644661 ms (missed cycles : 4).[0m ×2 +352.77sINFOros2-14process has finished cleanly [pid 13228] ×2 +352.78sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +352.79sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +352.79sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +352.88sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc +352.88sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc [0m ×2 +352.91sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +352.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +353.28sINFOros2_control_node[2026-07-23 15:13:15.971] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +353.29sINFOros2_control_node[2026-07-23 15:13:15.974] [info] Controller state will be published at 10 Hz. ×2 +353.29sINFOros2_control_node[2026-07-23 15:13:15.976] [info] VelocityForceController 'on_configure' succeeded. ×2 +353.64sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +353.64sINFOcontroller_managerLoading controller 'velocity_force_controller' +353.64sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc +353.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc [0m ×2 +353.66sINFOros2-18process has finished cleanly [pid 13233] ×2 +353.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727090 ms (missed cycles : 3). +353.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727090 ms (missed cycles : 3).[0m ×2 +353.72sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +353.72sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +354.06sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784819595.652 for reason 'discarding message because the queue is full' +354.34sINFOros2_control_node[2026-07-23 15:13:17.025] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +354.34sINFOros2_control_node[2026-07-23 15:13:17.029] [info] Controller state will be published at 10 Hz. ×2 +354.34sINFOros2_control_node[2026-07-23 15:13:17.030] [info] VelocityForceController 'on_configure' succeeded. ×2 +354.72sINFOros2-17process has finished cleanly [pid 13232] ×2 +354.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.342992 ms (missed cycles : 9). +354.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.342992 ms (missed cycles : 9).[0m ×2 +354.75sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +355.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +355.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +355.01sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc +355.01sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc [0m ×2 +355.04sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +355.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +355.04sINFOplatform_velocity_controller_nav2configure successful +355.34sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +355.34sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +355.34sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc +355.34sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc [0m ×2 +355.37sINFOros2-15process has finished cleanly [pid 13230] ×2 +355.41sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +355.41sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +355.42sINFOforce_torque_sensor_broadcasterconfigure successful +355.43sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +355.43sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +355.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112886 ms (missed cycles : 3). +355.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112886 ms (missed cycles : 3).[0m ×2 +355.76sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +355.76sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +355.77sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc +355.77sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc [0m ×2 +355.78sINFOros2-10process has finished cleanly [pid 13218] ×2 +355.84sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +355.84sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +355.84sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +355.85sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +356.21sINFOros2-11process has finished cleanly [pid 13219] ×2 +356.21sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +356.21sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +356.22sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc +356.22sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc [0m ×2 +356.36sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +356.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +356.36sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +356.36sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +356.36sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +356.36sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +356.37sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +356.56sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784819598.153 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +356.68sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +356.68sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +356.68sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc +356.68sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc [0m ×2 +356.73sINFOros2-16process has finished cleanly [pid 13231] ×2 +356.78sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +356.78sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +356.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282246 ms (missed cycles : 5). +356.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282246 ms (missed cycles : 5).[0m ×2 +357.38sINFOros2_control_node[2026-07-23 15:13:20.071] [info] Controller state will be published at 20 Hz. ×2 +357.38sINFOros2_control_node[2026-07-23 15:13:20.072] [info] JointVelocityController 'on_configure' succeeded. ×2 +357.76sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +357.77sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +357.77sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +357.78sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc +357.78sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4jammmle --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_zqt2fqmx --params-file /tmp/launch_params_8ralr4kc [0m ×2 +357.78sINFOros2-20process has finished cleanly [pid 13235] ×2 +357.82sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +357.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +357.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +357.82sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +357.82sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +357.83sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +357.84sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +357.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773411 ms (missed cycles : 2). +357.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773411 ms (missed cycles : 2).[0m ×2 +357.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.921ms +358.23sINFOros2-12process has finished cleanly [pid 13220] ×2 +358.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022484 ms (missed cycles : 5). +358.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022484 ms (missed cycles : 5).[0m ×2 +359.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7). +359.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7).[0m ×2 +360.28sINFOros2_control_nodeMuJoCo sim: 1.82% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 +360.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). +360.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 +361.30sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns +361.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). +361.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 +362.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). +362.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 +363.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 +363.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +363.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +363.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 +363.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 +363.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 +364.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). +364.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 +364.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 +364.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 +365.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). +365.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 +365.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 +365.05sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +365.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +365.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +365.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +365.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +365.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +365.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 +365.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 +365.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +365.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +365.68sINFOcontroller_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 | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
▾
/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 |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.82% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 1.02sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.89sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.76sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 5.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.73sINFOjoint_trajectory_controllerReceived new action goal + 6.73sINFOjoint_trajectory_controllerAccepted new action goal + 6.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 25 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022484 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022484 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 1.82% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 2.45sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 4.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.32sINFOmove_groupClearing octomap...[0m ×2 + 4.32sINFOmove_groupOctomap cleared.[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 4.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 6.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 6.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7).[0m ×2 + 0.40sINFOros2_control_nodeMuJoCo sim: 1.82% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 1.42sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.30sINFOmove_groupOctomap cleared.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 5.16sINFOobjective_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 + 5.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 6.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022484 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022484 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7).[0m ×2 + 1.43sINFOros2_control_nodeMuJoCo sim: 1.82% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 2.45sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 4.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.32sINFOmove_groupClearing octomap...[0m ×2 + 4.32sINFOmove_groupOctomap cleared.[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 4.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 6.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 6.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7).[0m ×2 + 0.40sINFOros2_control_nodeMuJoCo sim: 1.82% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 1.42sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.30sINFOmove_groupOctomap cleared.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 5.16sINFOobjective_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 + 5.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7).[0m ×2 + 0.40sINFOros2_control_nodeMuJoCo sim: 1.82% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 1.42sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.30sINFOmove_groupOctomap cleared.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 5.16sINFOobjective_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 + 5.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.675845 ms (missed cycles : 7).[0m ×2 + 0.40sINFOros2_control_nodeMuJoCo sim: 1.82% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 1.42sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.30sINFOmove_groupOctomap cleared.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 5.16sINFOobjective_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 + 5.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 19 warnings · 106 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.82% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 1.02sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.89sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.76sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 5.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863059 ms (missed cycles : 5). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863059 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319737 ms (missed cycles : 2).[0m ×2 + 0.40sWARNstate_estimatorOptimization exceeded the configured duration by 72259419ns + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.307327 ms (missed cycles : 7).[0m ×2 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954273 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784819605.86309433 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784819605.87339139 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784819606.42398596 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784819606.43411398 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201873 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784819606.98807788 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784819607.13879156 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050249 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784819607.71955252 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784819607.78012252 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784819608.33279634 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_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 3.732170 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732170 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.047325 ms (missed cycles : 8).[0m ×2 | ||||