69
Total objective tests
15
Objectives passed
2
Objectives failed
52
Objectives skipped
19.5s
Avg test time
88%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives2 fail10 pass25 skip
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 32.2s | 6 errors · 115 warnings · 207 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.283ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 0.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954032 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954032 ms (missed cycles : 2).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.770ms + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261386 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261386 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.725ms + 2.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758261 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758261 ms (missed cycles : 3).[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.829ms + 3.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.879ms + 3.73sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.73sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.78sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784849279.73709512 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.895ms + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237867 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237867 ms (missed cycles : 2).[0m ×2 + 4.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.236ms + 4.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.299ms + 4.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784849280.30053449 seconds. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.726ms + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.950ms + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.000644 ms (missed cycles : 8). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.000644 ms (missed cycles : 8).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.627ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.308ms + 5.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.938ms + 5.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.293ms + 5.69sWARNstate_estimatorOptimization exceeded the configured duration by 16187552ns + 5.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.543ms + 5.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 6.00sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.00sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.01sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.01sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.932ms + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962270 ms (missed cycles : 4). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962270 ms (missed cycles : 4).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.532ms + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.892ms + 6.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.589ms + 6.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.629ms + 7.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.597ms + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799921 ms (missed cycles : 3). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799921 ms (missed cycles : 3).[0m ×2 + 7.22sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.400ms + 7.42sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.685ms + 7.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.155ms + 8.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.680ms + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.960448 ms (missed cycles : 6). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.960448 ms (missed cycles : 6).[0m ×2 + 8.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.774ms + 8.92sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.802ms + 9.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.107ms + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.877825 ms (missed cycles : 5). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.877825 ms (missed cycles : 5).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.834ms + 9.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.983ms + 10.00sINFOamclParticle filter update iteration stats: 1788 particles 723 points - 5.242ms + 10.21sINFOamclParticle filter update iteration stats: 1788 particles 723 points - 3.355ms + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253349 ms (missed cycles : 3). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253349 ms (missed cycles : 3).[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 1788 particles 723 points - 4.514ms + 10.70sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 4.640ms + 11.01sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 3.264ms + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638784 ms (missed cycles : 2). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638784 ms (missed cycles : 2).[0m ×2 + 11.32sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 2.362ms + 11.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.309ms + 11.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.223ms + 12.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300139 ms (missed cycles : 3). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300139 ms (missed cycles : 3).[0m ×2 + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.611ms + 12.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.774ms + 12.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.243ms + 13.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.018ms + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823181 ms (missed cycles : 4). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823181 ms (missed cycles : 4).[0m ×2 + 13.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.494ms + 13.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.250ms ×2 + 13.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.035ms + 14.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124506 ms (missed cycles : 2). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124506 ms (missed cycles : 2).[0m ×2 + 14.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.436ms + 14.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 15.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.158ms + 15.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.290ms + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023063 ms (missed cycles : 3). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023063 ms (missed cycles : 3).[0m ×2 + 15.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.061ms + 15.80sWARNstate_estimatorOptimization exceeded the configured duration by 22227204ns + 15.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 16.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 16.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 16.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.092ms + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.981462 ms (missed cycles : 6). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.981462 ms (missed cycles : 6).[0m ×2 + 16.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 17.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 17.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043980 ms (missed cycles : 3). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043980 ms (missed cycles : 3).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.948ms + 17.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 18.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 18.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692373 ms (missed cycles : 3). + 18.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692373 ms (missed cycles : 3).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.815ms + 18.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.647ms + 19.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 19.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 19.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808749 ms (missed cycles : 2). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808749 ms (missed cycles : 2).[0m ×2 + 19.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 20.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 20.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.251ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.013ms + 20.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264158 ms (missed cycles : 2). + 20.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264158 ms (missed cycles : 2).[0m ×2 + 20.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 21.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219050 ms (missed cycles : 2). + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219050 ms (missed cycles : 2).[0m ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 21.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 22.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 22.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.198ms + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.224ms + 22.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464518 ms (missed cycles : 4). + 22.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464518 ms (missed cycles : 4).[0m ×2 + 22.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.273ms + 23.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.578ms + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 23.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 23.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096888 ms (missed cycles : 3). + 23.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096888 ms (missed cycles : 3).[0m ×2 + 23.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.569ms + 24.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.381ms + 24.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 24.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 24.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816723 ms (missed cycles : 4). + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816723 ms (missed cycles : 4).[0m ×2 + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 25.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.257ms + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms ×2 + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746756 ms (missed cycles : 6). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746756 ms (missed cycles : 6).[0m ×2 + 25.81sWARNstate_estimatorOptimization exceeded the configured duration by 39633866ns + 25.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 26.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 26.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.343ms + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.134ms + 26.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.521443 ms (missed cycles : 7). + 26.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.521443 ms (missed cycles : 7).[0m ×2 + 26.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms + 27.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 27.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 27.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837770 ms (missed cycles : 2). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837770 ms (missed cycles : 2).[0m ×2 + 28.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.800ms + 28.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.585ms + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.450ms + 28.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms ×2 + 28.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.807264 ms (missed cycles : 6). + 28.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.807264 ms (missed cycles : 6).[0m ×2 + 29.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.878ms + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.930ms + 29.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650764 ms (missed cycles : 3). + 29.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650764 ms (missed cycles : 3).[0m ×2 + 30.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.545ms + 30.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.476ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.567ms + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091997 ms (missed cycles : 2). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091997 ms (missed cycles : 2).[0m ×2 + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.945ms + 31.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.613ms + 31.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 31.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 31.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850145 ms (missed cycles : 3). + 31.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850145 ms (missed cycles : 3).[0m ×2 + 32.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.598ms + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.683ms + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673597 ms (missed cycles : 3). + 33.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673597 ms (missed cycles : 3).[0m ×2 + 33.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.936ms + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188154 ms (missed cycles : 2). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188154 ms (missed cycles : 2).[0m ×2 + 34.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.583ms + 35.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978182 ms (missed cycles : 3). + 35.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978182 ms (missed cycles : 3).[0m ×2 + 35.88sWARNstate_estimatorOptimization exceeded the configured duration by 4063569ns + 35.99sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 35.99sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 35.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784849311.95075917 seconds ×3 + 36.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.625ms + 36.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389826 ms (missed cycles : 3). + 36.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389826 ms (missed cycles : 3).[0m ×2 + 36.30sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.278ms + 36.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.291ms + 36.68sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784849312.63789296 seconds. ×3 + 36.73sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 10.077ms + 36.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.687ms + 37.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.768ms + 37.06sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 37.22sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.869ms + 37.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748145 ms (missed cycles : 3). + 37.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748145 ms (missed cycles : 3).[0m ×2 + 37.42sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.597ms + 37.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.649ms + 37.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.938ms + 38.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.004ms + 38.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.467ms + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.803305 ms (missed cycles : 7). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.803305 ms (missed cycles : 7).[0m ×2 + 38.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.469ms + 38.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.841ms + 38.83sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.040ms + 39.13sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 31.0s | 9 errors · 115 warnings · 207 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.588709 ms (missed cycles : 6). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.588709 ms (missed cycles : 6).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.703ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms ×2 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.270ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.804ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886857 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886857 ms (missed cycles : 3).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.884ms + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.419ms + 1.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.629ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.829ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948490 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948490 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.101ms + 2.70sWARNstate_estimatorOptimization exceeded the configured duration by 34828637ns + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.566ms + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.050ms ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005468 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005468 ms (missed cycles : 2).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.015ms + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.675ms + 3.89sINFOjoint_trajectory_controllerGot request to cancel goal + 3.89sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.89sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.275ms ×2 + 3.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784849323.07924700 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.075ms + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628482 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628482 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.195ms + 4.48sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784849323.64423108 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.642ms + 4.85sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.355ms + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.961ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133404 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133404 ms (missed cycles : 5).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.403ms + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.817ms + 5.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms ×2 + 6.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.493ms + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.952ms + 6.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.37sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272432 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272432 ms (missed cycles : 3).[0m ×2 + 6.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.806ms + 6.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.046ms + 7.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.723ms + 7.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.277ms + 7.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.439ms + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685078 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685078 ms (missed cycles : 3).[0m ×2 + 7.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.981ms ×2 + 7.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 7.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031415 ms (missed cycles : 3). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031415 ms (missed cycles : 3).[0m ×2 + 9.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.526ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951736 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951736 ms (missed cycles : 3).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.792ms + 9.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 10.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.695ms + 10.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936868 ms (missed cycles : 3). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936868 ms (missed cycles : 3).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 10.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 11.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 11.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 11.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518158 ms (missed cycles : 4). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518158 ms (missed cycles : 4).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 12.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 12.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759918 ms (missed cycles : 3). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759918 ms (missed cycles : 3).[0m ×2 + 12.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 13.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.736ms + 13.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.147ms + 13.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.927ms + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846635 ms (missed cycles : 3). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846635 ms (missed cycles : 3).[0m ×2 + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 13.67sWARNstate_estimatorOptimization exceeded the configured duration by 5340345ns + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 14.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.994ms + 14.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.993ms + 14.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.099ms + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.330112 ms (missed cycles : 7). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.330112 ms (missed cycles : 7).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.917ms + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 15.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms ×2 + 15.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.048ms ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578159 ms (missed cycles : 3). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578159 ms (missed cycles : 3).[0m ×2 + 15.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.145ms + 16.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 16.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881064 ms (missed cycles : 2). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881064 ms (missed cycles : 2).[0m ×2 + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.018ms + 17.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.165ms + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.148ms ×2 + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.900ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204846 ms (missed cycles : 5). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204846 ms (missed cycles : 5).[0m ×2 + 17.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 18.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.953ms + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132052 ms (missed cycles : 5). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132052 ms (missed cycles : 5).[0m ×2 + 19.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 19.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 19.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185814 ms (missed cycles : 5). + 19.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185814 ms (missed cycles : 5).[0m ×2 + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.320ms + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.721ms + 20.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082668 ms (missed cycles : 4). + 20.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082668 ms (missed cycles : 4).[0m ×2 + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.291ms + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712023 ms (missed cycles : 2). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712023 ms (missed cycles : 2).[0m ×2 + 22.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.757ms + 22.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.862ms ×2 + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 23.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536070 ms (missed cycles : 2). + 23.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536070 ms (missed cycles : 2).[0m ×2 + 23.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.916ms + 23.68sWARNstate_estimatorOptimization exceeded the configured duration by 17277500ns + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.345ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.584ms + 24.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135821 ms (missed cycles : 2). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135821 ms (missed cycles : 2).[0m ×2 + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms + 24.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 24.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.594ms + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.755ms ×2 + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668541 ms (missed cycles : 3). + 25.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668541 ms (missed cycles : 3).[0m ×2 + 25.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.390ms + 25.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.897ms + 25.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.706ms + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858812 ms (missed cycles : 2). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858812 ms (missed cycles : 2).[0m ×2 + 26.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.994ms + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.640ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.765ms + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959429 ms (missed cycles : 2). + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959429 ms (missed cycles : 2).[0m ×2 + 27.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.157ms + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.857ms + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719980 ms (missed cycles : 3). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719980 ms (missed cycles : 3).[0m ×2 + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.871ms + 28.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 28.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.092ms + 29.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.735ms + 29.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793735 ms (missed cycles : 4). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793735 ms (missed cycles : 4).[0m ×2 + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.505ms + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 30.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.792ms + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165715 ms (missed cycles : 2). + 30.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165715 ms (missed cycles : 2).[0m ×2 + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.364ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.003ms + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 31.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4).[0m ×2 + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 31.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 32.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.667ms + 32.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3). + 32.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3).[0m ×2 + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 33.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2). + 33.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2).[0m ×2 + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.722ms + 33.69sINFOjoint_trajectory_controllerGoal reached, success! + 33.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 33.70sWARNstate_estimatorOptimization exceeded the configured duration by 34471480ns + 34.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2). + 34.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2).[0m ×2 + 34.92sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 34.93sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 34.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849354.09477377 seconds ×3 + 35.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.147ms + 35.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.161ms + 35.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2). + 35.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2).[0m ×2 + 35.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.233ms + 35.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849354.71310210 seconds. ×3 + 35.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.457ms + 35.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.679ms + 35.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 36.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.458ms + 36.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.921ms + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5).[0m ×2 + 36.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.911ms + 36.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.452ms + 36.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.754ms + 37.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.033ms + 37.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.639ms + 37.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.652ms + 37.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3). + 37.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3).[0m ×2 + 37.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.341ms + 37.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.222ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.8s | 189 warnings · 249 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784849182.80903411 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms ×2 + 0.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784849183.35720539 seconds. ×3 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368996 ms (missed cycles : 3). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368996 ms (missed cycles : 3).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 1.55sINFOobjective_server_nodeFound path in 0 iterations (2.254e-05 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.57sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.57sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117605 ms (missed cycles : 5). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117605 ms (missed cycles : 5).[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100230 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100230 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 3.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 3.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784849186.43733692 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189121 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189121 ms (missed cycles : 4).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 4.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784849186.98760128 seconds. ×3 + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117395 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117395 ms (missed cycles : 5).[0m ×2 + 5.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970657 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970657 ms (missed cycles : 5).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571694 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571694 ms (missed cycles : 4).[0m ×2 + 7.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404686 ms (missed cycles : 4). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404686 ms (missed cycles : 4).[0m ×2 + 7.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 8.20sWARNstate_estimatorOptimization exceeded the configured duration by 24045148ns + 8.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.265ms + 8.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.030ms + 8.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602806 ms (missed cycles : 3). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602806 ms (missed cycles : 3).[0m ×2 + 9.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 9.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.178ms + 9.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.274ms ×2 + 9.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795584 ms (missed cycles : 3). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795584 ms (missed cycles : 3).[0m ×2 + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.107ms + 10.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 10.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.168133 ms (missed cycles : 8). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.168133 ms (missed cycles : 8).[0m ×2 + 11.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms ×2 + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 11.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.896ms + 11.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856983 ms (missed cycles : 3). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856983 ms (missed cycles : 3).[0m ×2 + 12.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 12.31sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.077ms + 12.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.747ms + 12.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471959 ms (missed cycles : 4). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471959 ms (missed cycles : 4).[0m ×2 + 13.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.011ms + 13.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.272ms + 13.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.322ms + 13.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.665ms + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828986 ms (missed cycles : 2). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828986 ms (missed cycles : 2).[0m ×2 + 14.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310573 ms (missed cycles : 5). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310573 ms (missed cycles : 5).[0m ×2 + 15.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 15.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.164ms + 15.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.924ms + 16.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309187 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309187 ms (missed cycles : 2).[0m ×2 + 16.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.740ms + 16.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 16.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 17.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.268ms + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340591 ms (missed cycles : 3). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340591 ms (missed cycles : 3).[0m ×2 + 17.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.909ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.957ms + 18.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.040ms + 18.21sWARNstate_estimatorOptimization exceeded the configured duration by 35896124ns + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612130 ms (missed cycles : 3). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612130 ms (missed cycles : 3).[0m ×2 + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.169ms + 18.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772395 ms (missed cycles : 2). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772395 ms (missed cycles : 2).[0m ×2 + 19.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 20.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.809491 ms (missed cycles : 6). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.809491 ms (missed cycles : 6).[0m ×2 + 20.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 20.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 20.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.917ms + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.056ms + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182482 ms (missed cycles : 4). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182482 ms (missed cycles : 4).[0m ×2 + 21.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 21.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 22.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms ×2 + 22.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 22.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680088 ms (missed cycles : 3). + 22.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680088 ms (missed cycles : 3).[0m ×2 + 22.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.472ms + 22.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 23.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 23.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890907 ms (missed cycles : 4). + 23.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890907 ms (missed cycles : 4).[0m ×2 + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.695ms + 23.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 24.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.116ms + 24.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.209ms + 24.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068199 ms (missed cycles : 5). + 24.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068199 ms (missed cycles : 5).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.213ms + 24.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.815ms + 25.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.935ms + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.392ms + 25.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068877 ms (missed cycles : 2). + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068877 ms (missed cycles : 2).[0m ×2 + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms ×2 + 25.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.231ms + 26.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775187 ms (missed cycles : 3). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775187 ms (missed cycles : 3).[0m ×2 + 26.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.919ms ×2 + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.336ms + 27.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.796ms + 27.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.741ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283809 ms (missed cycles : 2). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283809 ms (missed cycles : 2).[0m ×2 + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.357ms + 28.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.492ms + 28.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.466ms + 28.30sWARNstate_estimatorOptimization exceeded the configured duration by 27105965ns + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.629ms + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 28.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237377 ms (missed cycles : 2). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237377 ms (missed cycles : 2).[0m ×2 + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.465ms + 29.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.028ms + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.911ms + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms ×2 + 29.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190312 ms (missed cycles : 2). + 29.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190312 ms (missed cycles : 2).[0m ×2 + 29.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 30.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.733ms + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.436ms + 30.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 30.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919326 ms (missed cycles : 3). + 30.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919326 ms (missed cycles : 3).[0m ×2 + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.729ms + 31.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 31.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 31.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.939ms + 31.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928828 ms (missed cycles : 3). + 31.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928828 ms (missed cycles : 3).[0m ×2 + 31.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.456ms + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.722ms + 32.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731152 ms (missed cycles : 2). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731152 ms (missed cycles : 2).[0m ×2 + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.692ms + 33.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 33.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449389 ms (missed cycles : 4). + 33.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449389 ms (missed cycles : 4).[0m ×2 + 33.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 34.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.006ms + 34.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.138355 ms (missed cycles : 11). + 34.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.138355 ms (missed cycles : 11).[0m ×2 + 34.95sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805052 ms (missed cycles : 3). + 35.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805052 ms (missed cycles : 3).[0m ×2 + 36.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.682ms + 36.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.795ms + 36.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200763 ms (missed cycles : 4). + 36.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200763 ms (missed cycles : 4).[0m ×2 + 37.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.707345 ms (missed cycles : 11). + 37.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.707345 ms (missed cycles : 11).[0m ×2 + 38.38sWARNstate_estimatorOptimization exceeded the configured duration by 105668296ns + 38.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.892ms + 38.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771905 ms (missed cycles : 3). + 38.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771905 ms (missed cycles : 3).[0m ×2 + 39.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.313ms + 39.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840662 ms (missed cycles : 3). + 39.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840662 ms (missed cycles : 3).[0m ×2 + 40.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.634ms + 41.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268619 ms (missed cycles : 2). + 41.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268619 ms (missed cycles : 2).[0m ×2 + 41.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.544ms + 42.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 42.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420790 ms (missed cycles : 3). + 42.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420790 ms (missed cycles : 3).[0m ×2 + 43.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070109 ms (missed cycles : 3). + 43.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070109 ms (missed cycles : 3).[0m ×2 + 44.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980519 ms (missed cycles : 3). + 44.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980519 ms (missed cycles : 3).[0m ×2 + 44.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 45.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137491 ms (missed cycles : 5). + 45.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137491 ms (missed cycles : 5).[0m ×2 + 45.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.949ms + 46.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.064258 ms (missed cycles : 6). + 46.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.064258 ms (missed cycles : 6).[0m ×2 + 47.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124713 ms (missed cycles : 5). + 47.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124713 ms (missed cycles : 5).[0m ×2 + 47.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms + 48.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 48.40sWARNstate_estimatorOptimization exceeded the configured duration by 25348328ns + 48.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.844185 ms (missed cycles : 6). + 48.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.844185 ms (missed cycles : 6).[0m ×2 + 49.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.802ms + 49.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735264 ms (missed cycles : 4). + 49.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735264 ms (missed cycles : 4).[0m ×2 + 50.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940639 ms (missed cycles : 3). + 50.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940639 ms (missed cycles : 3).[0m ×2 + 51.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 51.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316712 ms (missed cycles : 2). + 51.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316712 ms (missed cycles : 2).[0m ×2 + 51.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 52.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.933ms + 52.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791335 ms (missed cycles : 2). + 52.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791335 ms (missed cycles : 2).[0m ×2 + 53.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478143 ms (missed cycles : 3). + 53.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478143 ms (missed cycles : 3).[0m ×2 + 54.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635886 ms (missed cycles : 3). + 54.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635886 ms (missed cycles : 3).[0m ×2 + 55.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 55.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.164ms + 55.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271956 ms (missed cycles : 2). + 55.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271956 ms (missed cycles : 2).[0m ×2 + 56.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 56.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862082 ms (missed cycles : 2). + 56.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862082 ms (missed cycles : 2).[0m ×2 + 57.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482432 ms (missed cycles : 6). + 57.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482432 ms (missed cycles : 6).[0m ×2 + 58.45sWARNstate_estimatorOptimization exceeded the configured duration by 76381460ns + 58.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 59.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890415 ms (missed cycles : 2). + 59.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890415 ms (missed cycles : 2).[0m ×2 + 59.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.947ms + 60.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265170 ms (missed cycles : 2). + 60.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265170 ms (missed cycles : 2).[0m ×2 + 60.46sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784849243.21775436 seconds ×3 + 60.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.885ms + 60.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.327ms + 60.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.355ms + 61.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.502ms + 61.04sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784849243.79561591 seconds. ×3 + 61.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737146 ms (missed cycles : 5). + 61.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737146 ms (missed cycles : 5).[0m ×2 + 61.32sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.031ms + 61.40sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 61.42sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.991ms + 61.72sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.048ms + 62.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797108 ms (missed cycles : 2). + 62.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797108 ms (missed cycles : 2).[0m ×2 + 62.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.900ms + 62.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.968ms + 63.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.420ms + 63.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455591 ms (missed cycles : 4). + 63.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455591 ms (missed cycles : 4).[0m ×2 + 63.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.894ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.5s | 6 errors · 186 warnings · 231 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.048ms + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.667ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.722ms + 2.69sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.70sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.70sWARNstate_estimatorOptimization exceeded the configured duration by 34471480ns + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.93sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849354.09477377 seconds ×3 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.147ms + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.161ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.233ms + 4.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849354.71310210 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.457ms + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.679ms + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.458ms + 5.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.921ms + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.911ms + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.452ms + 5.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.754ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.033ms + 6.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.639ms + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.27sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.27sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.652ms + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.341ms + 6.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.222ms + 7.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.202ms + 7.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.751ms + 7.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.285ms + 7.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.740ms + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841404 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841404 ms (missed cycles : 2).[0m ×2 + 7.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.994ms + 8.20sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 9.686ms + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609831 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609831 ms (missed cycles : 2).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 2.760ms + 9.21sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 3.765ms + 9.50sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 2.943ms + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168234 ms (missed cycles : 4). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168234 ms (missed cycles : 4).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 2.734ms + 10.01sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 2.725ms + 10.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.844ms + 10.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.590ms + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428088 ms (missed cycles : 3). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428088 ms (missed cycles : 3).[0m ×2 + 10.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.945ms + 11.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.140ms + 11.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 11.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.712ms + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280053 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280053 ms (missed cycles : 2).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.046ms + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.002ms + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351785 ms (missed cycles : 3). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351785 ms (missed cycles : 3).[0m ×2 + 12.78sWARNstate_estimatorOptimization exceeded the configured duration by 15481653ns + 12.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.868ms ×2 + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.121ms ×2 + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.369ms + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740498 ms (missed cycles : 3). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740498 ms (missed cycles : 3).[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.640ms + 14.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.193ms + 14.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.043ms + 14.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.576ms + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.320ms + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944940 ms (missed cycles : 3). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944940 ms (missed cycles : 3).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.394ms + 15.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.450ms + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.089ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282585 ms (missed cycles : 2). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282585 ms (missed cycles : 2).[0m ×2 + 15.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 16.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.226ms + 16.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.189ms + 16.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697883 ms (missed cycles : 2). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697883 ms (missed cycles : 2).[0m ×2 + 17.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.433ms + 17.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.220ms + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520928 ms (missed cycles : 3). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520928 ms (missed cycles : 3).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.917ms + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.554ms + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.165ms + 18.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295083 ms (missed cycles : 5). + 18.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295083 ms (missed cycles : 5).[0m ×2 + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 19.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.678ms + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331258 ms (missed cycles : 3). + 19.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331258 ms (missed cycles : 3).[0m ×2 + 20.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.955ms + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.642ms + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.460ms + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.127123 ms (missed cycles : 7). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.127123 ms (missed cycles : 7).[0m ×2 + 21.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.265ms + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110335 ms (missed cycles : 3). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110335 ms (missed cycles : 3).[0m ×2 + 22.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.393ms + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.874ms + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 23.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.934498 ms (missed cycles : 6). + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.934498 ms (missed cycles : 6).[0m ×2 + 23.17sWARNstate_estimatorOptimization exceeded the configured duration by 3615818ns + 23.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.589ms + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 23.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.191ms + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717967 ms (missed cycles : 4). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717967 ms (missed cycles : 4).[0m ×2 + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 24.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.875ms + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.903ms + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 24.92sINFOros2_control_nodeMuJoCo sim: 1.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.268ms + 25.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251097 ms (missed cycles : 5). + 25.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251097 ms (missed cycles : 5).[0m ×2 + 25.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.956ms + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 25.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.643ms + 26.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.862ms + 26.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147196 ms (missed cycles : 4). + 26.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147196 ms (missed cycles : 4).[0m ×2 + 26.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.391ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.457ms + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 27.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343287 ms (missed cycles : 3). + 27.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343287 ms (missed cycles : 3).[0m ×2 + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.378ms + 27.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.782ms + 27.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.647ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.142ms + 28.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716665 ms (missed cycles : 5). + 28.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716665 ms (missed cycles : 5).[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.815ms + 29.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856945 ms (missed cycles : 6). + 29.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856945 ms (missed cycles : 6).[0m ×2 + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.481ms + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.846ms + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.557ms + 30.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.174ms + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.095ms + 30.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791561 ms (missed cycles : 3). + 30.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791561 ms (missed cycles : 3).[0m ×2 + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 30.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.454ms + 31.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947606 ms (missed cycles : 2). + 31.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947606 ms (missed cycles : 2).[0m ×2 + 31.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.508ms + 32.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.475ms + 32.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.073ms + 32.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390362 ms (missed cycles : 5). + 32.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390362 ms (missed cycles : 5).[0m ×2 + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.991ms + 33.18sWARNstate_estimatorOptimization exceeded the configured duration by 109753151ns + 33.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.754ms + 33.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455473 ms (missed cycles : 3). + 33.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455473 ms (missed cycles : 3).[0m ×2 + 33.68sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066060 ms (missed cycles : 2). + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066060 ms (missed cycles : 2).[0m ×2 + 35.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.254ms + 35.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734321 ms (missed cycles : 3). + 35.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734321 ms (missed cycles : 3).[0m ×2 + 36.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672897 ms (missed cycles : 3). + 36.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672897 ms (missed cycles : 3).[0m ×2 + 37.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.875843 ms (missed cycles : 6). + 37.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.875843 ms (missed cycles : 6).[0m ×2 + 37.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 38.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.703ms + 38.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079564 ms (missed cycles : 2). + 38.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079564 ms (missed cycles : 2).[0m ×2 + 39.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042052 ms (missed cycles : 4). + 39.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042052 ms (missed cycles : 4).[0m ×2 + 40.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.079ms + 40.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.790ms + 40.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616782 ms (missed cycles : 4). + 40.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616782 ms (missed cycles : 4).[0m ×2 + 41.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761063 ms (missed cycles : 3). + 41.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761063 ms (missed cycles : 3).[0m ×2 + 42.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.021ms + 42.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574381 ms (missed cycles : 2). + 42.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574381 ms (missed cycles : 2).[0m ×2 + 43.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.225ms + 43.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496259 ms (missed cycles : 4). + 43.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496259 ms (missed cycles : 4).[0m ×2 + 43.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.154ms + 44.27sWARNstate_estimatorOptimization exceeded the configured duration by 8967769ns + 44.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782864 ms (missed cycles : 2). + 44.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782864 ms (missed cycles : 2).[0m ×2 + 45.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.520ms + 45.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256853 ms (missed cycles : 2). + 45.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256853 ms (missed cycles : 2).[0m ×2 + 46.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.005ms + 47.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612595 ms (missed cycles : 3). + 47.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612595 ms (missed cycles : 3).[0m ×2 + 47.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 48.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms ×2 + 48.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471253 ms (missed cycles : 3). + 48.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471253 ms (missed cycles : 3).[0m ×2 + 49.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508117 ms (missed cycles : 4). + 49.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508117 ms (missed cycles : 4).[0m ×2 + 50.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266661 ms (missed cycles : 2). + 50.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266661 ms (missed cycles : 2).[0m ×2 + 50.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.006ms + 50.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.742ms + 51.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.953102 ms (missed cycles : 6). + 51.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.953102 ms (missed cycles : 6).[0m ×2 + 51.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.530ms + 52.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.812849 ms (missed cycles : 5). + 52.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.812849 ms (missed cycles : 5).[0m ×2 + 53.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969267 ms (missed cycles : 2). + 53.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969267 ms (missed cycles : 2).[0m ×2 + 53.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.994ms + 54.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319739 ms (missed cycles : 5). + 54.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319739 ms (missed cycles : 5).[0m ×2 + 54.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.947ms + 54.35sWARNstate_estimatorOptimization exceeded the configured duration by 88365272ns + 54.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 55.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917168 ms (missed cycles : 2). + 55.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917168 ms (missed cycles : 2).[0m ×2 + 56.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297227 ms (missed cycles : 3). + 56.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297227 ms (missed cycles : 3).[0m ×2 + 56.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.734ms + 57.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442799 ms (missed cycles : 4). + 57.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442799 ms (missed cycles : 4).[0m ×2 + 57.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.044ms + 58.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246986 ms (missed cycles : 3). + 58.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246986 ms (missed cycles : 3).[0m ×2 + 58.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.119ms + 59.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.806ms + 59.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923704 ms (missed cycles : 2). + 59.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923704 ms (missed cycles : 2).[0m ×2 + 59.49sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784849409.65325069 seconds ×3 + 59.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 60.05sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784849410.22291589 seconds. ×3 + 60.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 60.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 60.41sINFOobjective_server_nodeFound path in 0 iterations (1.63e-06 s). ×2 + 60.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507058 ms (missed cycles : 3). + 60.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507058 ms (missed cycles : 3).[0m ×2 + 60.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 60.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 61.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.164ms + 61.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435715 ms (missed cycles : 2). + 61.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435715 ms (missed cycles : 2).[0m ×2 + 61.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.695ms + 62.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.143ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 152 warnings · 148 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 4.94sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.47sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674586 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674586 ms (missed cycles : 2).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530525 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530525 ms (missed cycles : 3).[0m ×2 + 7.54sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.358ms + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.516004 ms (missed cycles : 7). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.516004 ms (missed cycles : 7).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150035 ms (missed cycles : 5). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150035 ms (missed cycles : 5).[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459041 ms (missed cycles : 4). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459041 ms (missed cycles : 4).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827962 ms (missed cycles : 3). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827962 ms (missed cycles : 3).[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021877 ms (missed cycles : 2). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021877 ms (missed cycles : 2).[0m ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.626641 ms (missed cycles : 6). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.626641 ms (missed cycles : 6).[0m ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555992 ms (missed cycles : 4). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555992 ms (missed cycles : 4).[0m ×2 + 15.01sWARNstate_estimatorOptimization exceeded the configured duration by 148526ns + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461247 ms (missed cycles : 2). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461247 ms (missed cycles : 2).[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784983 ms (missed cycles : 3). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784983 ms (missed cycles : 3).[0m ×2 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490430 ms (missed cycles : 4). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490430 ms (missed cycles : 4).[0m ×2 + 18.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.163ms + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131439 ms (missed cycles : 4). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131439 ms (missed cycles : 4).[0m ×2 + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143780 ms (missed cycles : 3). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143780 ms (missed cycles : 3).[0m ×2 + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889179 ms (missed cycles : 4). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889179 ms (missed cycles : 4).[0m ×2 + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508961 ms (missed cycles : 4). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508961 ms (missed cycles : 4).[0m ×2 + 22.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977722 ms (missed cycles : 2). + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977722 ms (missed cycles : 2).[0m ×2 + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644217 ms (missed cycles : 2). + 23.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644217 ms (missed cycles : 2).[0m ×2 + 24.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809566 ms (missed cycles : 7). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809566 ms (missed cycles : 7).[0m ×2 + 25.03sWARNstate_estimatorOptimization exceeded the configured duration by 21261560ns + 26.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945714 ms (missed cycles : 3). + 26.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945714 ms (missed cycles : 3).[0m ×2 + 27.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122238 ms (missed cycles : 2). + 27.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122238 ms (missed cycles : 2).[0m ×2 + 28.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847112 ms (missed cycles : 3). + 28.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847112 ms (missed cycles : 3).[0m ×2 + 29.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173514 ms (missed cycles : 2). + 29.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173514 ms (missed cycles : 2).[0m ×2 + 30.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402388 ms (missed cycles : 3). + 30.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402388 ms (missed cycles : 3).[0m ×2 + 30.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.216197 ms (missed cycles : 8). + 31.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.216197 ms (missed cycles : 8).[0m ×2 + 32.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.442593 ms (missed cycles : 7). + 32.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.442593 ms (missed cycles : 7).[0m ×2 + 33.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349914 ms (missed cycles : 3). + 33.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349914 ms (missed cycles : 3).[0m ×2 + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772354 ms (missed cycles : 6). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.772354 ms (missed cycles : 6).[0m ×2 + 35.21sWARNstate_estimatorOptimization exceeded the configured duration by 1651436ns + 35.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805982 ms (missed cycles : 3). + 35.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805982 ms (missed cycles : 3).[0m ×2 + 36.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568924 ms (missed cycles : 3). + 36.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568924 ms (missed cycles : 3).[0m ×2 + 37.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.344833 ms (missed cycles : 6). + 37.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.344833 ms (missed cycles : 6).[0m ×2 + 38.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208239 ms (missed cycles : 4). + 38.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208239 ms (missed cycles : 4).[0m ×2 + 39.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 39.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132686 ms (missed cycles : 4). + 39.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132686 ms (missed cycles : 4).[0m ×2 + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.747490 ms (missed cycles : 9). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.747490 ms (missed cycles : 9).[0m ×2 + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773180 ms (missed cycles : 3). + 41.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773180 ms (missed cycles : 3).[0m ×2 + 42.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122930 ms (missed cycles : 3). + 42.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122930 ms (missed cycles : 3).[0m ×2 + 43.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924235 ms (missed cycles : 2). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924235 ms (missed cycles : 2).[0m ×2 + 44.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069322 ms (missed cycles : 5). + 44.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069322 ms (missed cycles : 5).[0m ×2 + 45.23sWARNstate_estimatorOptimization exceeded the configured duration by 26586146ns + 45.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681645 ms (missed cycles : 3). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681645 ms (missed cycles : 3).[0m ×2 + 46.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.801981 ms (missed cycles : 5). + 46.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.801981 ms (missed cycles : 5).[0m ×2 + 47.13sINFOjoint_trajectory_controllerGoal reached, success! + 47.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784849182.80903411 seconds ×3 + 47.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 47.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 47.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784849183.35720539 seconds. ×3 + 47.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368996 ms (missed cycles : 3). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368996 ms (missed cycles : 3).[0m ×2 + 48.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 48.68sINFOobjective_server_nodeFound path in 0 iterations (2.254e-05 s). ×2 + 48.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117605 ms (missed cycles : 5). + 48.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117605 ms (missed cycles : 5).[0m ×2 + 49.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100230 ms (missed cycles : 2). + 49.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100230 ms (missed cycles : 2).[0m ×2 + 50.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.9s | 112 warnings · 184 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.968ms + 0.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.420ms + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455591 ms (missed cycles : 4). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455591 ms (missed cycles : 4).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.894ms + 1.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.765ms + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067761 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067761 ms (missed cycles : 3).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.451ms + 2.44sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.44sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.46sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784849247.84576559 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475163 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475163 ms (missed cycles : 2).[0m ×2 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679731 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679731 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784849249.41694617 seconds. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777170 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777170 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642683 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642683 ms (missed cycles : 3).[0m ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.94sWARNstate_estimatorOptimization exceeded the configured duration by 88790880ns + 5.94sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.94sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474002 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474002 ms (missed cycles : 3).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411916 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411916 ms (missed cycles : 2).[0m ×2 + 7.68sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.018ms + 8.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.180ms + 8.48sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.428ms + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784827 ms (missed cycles : 6). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784827 ms (missed cycles : 6).[0m ×2 + 8.78sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.318ms + 9.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.907ms + 9.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.107ms + 9.49sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 3.689ms + 9.69sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 2.933ms + 9.69sINFOros2_control_nodeMuJoCo sim: 1.18% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443934 ms (missed cycles : 3). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443934 ms (missed cycles : 3).[0m ×2 + 9.89sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 3.645ms + 10.20sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.688ms + 10.38sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.823ms + 10.68sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.780ms + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360061 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360061 ms (missed cycles : 2).[0m ×2 + 10.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.523ms ×2 + 11.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.234ms + 11.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.395ms + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898915 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898915 ms (missed cycles : 2).[0m ×2 + 11.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.238ms + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.310ms + 12.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.777ms + 12.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.004ms + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560622 ms (missed cycles : 2). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560622 ms (missed cycles : 2).[0m ×2 + 12.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 13.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.311ms ×2 + 13.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 13.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 13.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.717ms + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231199 ms (missed cycles : 2). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231199 ms (missed cycles : 2).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.262ms + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.994ms ×2 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.326949 ms (missed cycles : 7). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.326949 ms (missed cycles : 7).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.904ms ×2 + 15.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 15.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 15.95sWARNstate_estimatorOptimization exceeded the configured duration by 2696328ns + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.835434 ms (missed cycles : 5). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.835434 ms (missed cycles : 5).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.869ms + 16.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 16.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 16.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764422 ms (missed cycles : 2). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764422 ms (missed cycles : 2).[0m ×2 + 17.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.683ms + 17.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.258ms + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909202 ms (missed cycles : 3). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909202 ms (missed cycles : 3).[0m ×2 + 18.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 18.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.795ms + 18.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.460432 ms (missed cycles : 6). + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.460432 ms (missed cycles : 6).[0m ×2 + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.194ms + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.213ms + 19.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.922ms + 19.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.218ms + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039574 ms (missed cycles : 4). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039574 ms (missed cycles : 4).[0m ×2 + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 21.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627744 ms (missed cycles : 2). + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627744 ms (missed cycles : 2).[0m ×2 + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.079ms + 21.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 21.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 22.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.686ms + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495403 ms (missed cycles : 3). + 22.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495403 ms (missed cycles : 3).[0m ×2 + 22.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.815ms + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117707 ms (missed cycles : 4). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117707 ms (missed cycles : 4).[0m ×2 + 23.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.774ms + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.570ms + 23.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 24.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.682ms + 24.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.806531 ms (missed cycles : 7). + 24.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.806531 ms (missed cycles : 7).[0m ×2 + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms ×2 + 24.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.711ms + 24.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.905ms + 24.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.545ms + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.362ms + 25.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974057 ms (missed cycles : 2). + 25.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974057 ms (missed cycles : 2).[0m ×2 + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 25.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.852ms + 25.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 25.98sWARNstate_estimatorOptimization exceeded the configured duration by 34832666ns + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 26.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346501 ms (missed cycles : 4). + 26.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346501 ms (missed cycles : 4).[0m ×2 + 26.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.686ms + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.073ms + 27.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.995ms + 27.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526377 ms (missed cycles : 4). + 27.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526377 ms (missed cycles : 4).[0m ×2 + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.837ms + 27.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.618ms + 28.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.508ms + 28.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771173 ms (missed cycles : 2). + 28.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771173 ms (missed cycles : 2).[0m ×2 + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.687ms + 28.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.108ms + 29.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.796ms + 29.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.637ms + 29.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240936 ms (missed cycles : 4). + 29.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240936 ms (missed cycles : 4).[0m ×2 + 29.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.024ms + 29.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 30.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.949ms + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629826 ms (missed cycles : 4). + 30.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629826 ms (missed cycles : 4).[0m ×2 + 30.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.283ms + 31.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954032 ms (missed cycles : 2). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954032 ms (missed cycles : 2).[0m ×2 + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 31.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.770ms + 32.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 32.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261386 ms (missed cycles : 2). + 32.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261386 ms (missed cycles : 2).[0m ×2 + 32.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 32.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.725ms + 33.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758261 ms (missed cycles : 3). + 33.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758261 ms (missed cycles : 3).[0m ×2 + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.829ms + 34.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.879ms + 34.35sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784849279.73709512 seconds ×3 + 34.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.895ms + 34.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237867 ms (missed cycles : 2). + 34.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237867 ms (missed cycles : 2).[0m ×2 + 34.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.236ms + 34.88sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.299ms + 34.92sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784849280.30053449 seconds. ×3 + 35.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.726ms + 35.27sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 35.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.950ms + 35.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.000644 ms (missed cycles : 8). + 35.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.000644 ms (missed cycles : 8).[0m ×2 + 35.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.627ms + 35.78sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.308ms + 35.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.938ms + 36.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.293ms + 36.27sWARNstate_estimatorOptimization exceeded the configured duration by 16187552ns + 36.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.543ms + 36.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.58sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.932ms + 36.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962270 ms (missed cycles : 4). + 36.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962270 ms (missed cycles : 4).[0m ×2 + 36.78sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.532ms + 36.99sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.892ms + 37.19sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.589ms + 37.39sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.629ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.2s | 59 warnings · 157 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297227 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297227 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.734ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442799 ms (missed cycles : 4). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442799 ms (missed cycles : 4).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.044ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246986 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246986 ms (missed cycles : 3).[0m ×2 + 2.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.119ms + 3.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.806ms + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923704 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923704 ms (missed cycles : 2).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.56sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.60sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784849409.65325069 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 4.17sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784849410.22291589 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 4.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 4.52sINFOobjective_server_nodeFound path in 0 iterations (1.63e-06 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507058 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507058 ms (missed cycles : 3).[0m ×2 + 4.56sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.56sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.56sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 4.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.164ms + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435715 ms (missed cycles : 2). + 5.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms ×2 + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435715 ms (missed cycles : 2).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.695ms + 6.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.143ms + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.779049 ms (missed cycles : 6). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.779049 ms (missed cycles : 6).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.472ms + 7.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.446ms + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756620 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756620 ms (missed cycles : 3).[0m ×2 + 8.48sWARNstate_estimatorOptimization exceeded the configured duration by 591856ns + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409381 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409381 ms (missed cycles : 2).[0m ×2 + 8.76sINFOobjective_server_nodeFound path in 0 iterations (7.5e-07 s). ×2 + 8.78sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.81sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 8.84sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.87sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 8.93sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.97sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 9.10sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.15sINFOobjective_server_nodeFound path in 0 iterations (8.5e-07 s). ×2 + 9.41sINFOobjective_server_nodeFound path in 69 iterations (0.0575056 s). ×2 + 9.63sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.69sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657848 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657848 ms (missed cycles : 2).[0m ×2 + 10.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.43sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.68sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718540 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718540 ms (missed cycles : 2).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442010 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442010 ms (missed cycles : 3).[0m ×2 + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.065ms + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244691 ms (missed cycles : 5). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244691 ms (missed cycles : 5).[0m ×2 + 12.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.741ms + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.816ms + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms ×2 + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.885ms + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742954 ms (missed cycles : 3). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742954 ms (missed cycles : 3).[0m ×2 + 13.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.761ms + 14.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611762 ms (missed cycles : 4). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611762 ms (missed cycles : 4).[0m ×2 + 15.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.053ms + 15.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.122ms + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804499 ms (missed cycles : 4). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804499 ms (missed cycles : 4).[0m ×2 + 16.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 16.79sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784849422.84465885 seconds ×3 + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.666ms + 17.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.593ms + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.172214 ms (missed cycles : 7). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.172214 ms (missed cycles : 7).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 17.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784849423.43945384 seconds. ×3 + 17.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.39sINFOmove_groupClearing octomap...[0m ×2 + 17.39sINFOmove_groupOctomap cleared.[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.817ms + 17.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784849423.98352170 seconds ×3 + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040462 ms (missed cycles : 3). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040462 ms (missed cycles : 3).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.385ms + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.475ms + 18.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784849424.54407859 seconds. ×3 + 18.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 18.59sWARNstate_estimatorOptimization exceeded the configured duration by 112519820ns + 18.82sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 2.563ms + 18.92sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 2.461ms + 19.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784849425.13427758 seconds ×3 + 19.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826146 ms (missed cycles : 3). + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826146 ms (missed cycles : 3).[0m ×2 + 19.12sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.867ms + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 19.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 19.31sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 13.1s | 99 errors · 34 warnings · 459 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.761ms + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611762 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611762 ms (missed cycles : 4).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.053ms + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.122ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804499 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804499 ms (missed cycles : 4).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784849422.84465885 seconds ×3 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.666ms + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.593ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.172214 ms (missed cycles : 7). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.172214 ms (missed cycles : 7).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 3.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784849423.43945384 seconds. ×3 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.48sINFOmove_groupClearing octomap...[0m ×2 + 3.48sINFOmove_groupOctomap cleared.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms + 3.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 3.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.817ms + 4.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784849423.98352170 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040462 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040462 ms (missed cycles : 3).[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.385ms + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.475ms + 4.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784849424.54407859 seconds. ×3 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 4.68sWARNstate_estimatorOptimization exceeded the configured duration by 112519820ns + 4.90sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 2.563ms + 5.01sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 2.461ms + 5.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784849425.13427758 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826146 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826146 ms (missed cycles : 3).[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.867ms + 5.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 5.40sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 5.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.023ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243965 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243965 ms (missed cycles : 4).[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096119 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096119 ms (missed cycles : 2).[0m ×2 + 8.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.600ms + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824747 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824747 ms (missed cycles : 3).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755706 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755706 ms (missed cycles : 2).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913791 ms (missed cycles : 3). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913791 ms (missed cycles : 3).[0m ×2 + 11.03sERRORweb_video_auth_proxy-36process[web_video_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORweb_bridge_auth_proxy-35process[web_bridge_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORweb_video_server-34process[web_video_server-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sINFOweb_video_auth_proxy-36sending signal 'SIGTERM' to process[web_video_auth_proxy-36] ×2 + 11.08sERRORtf2_web_republisher_node-33process[tf2_web_republisher_node-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORweb_video_auth_proxy-36process has died [pid 13725, 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 + 11.08sERRORweb_bridge-32process[web_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sINFOweb_bridge_auth_proxy-35sending signal 'SIGTERM' to process[web_bridge_auth_proxy-35] ×2 + 11.12sERRORui_teleop_bridge-31process[ui_teleop_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORweb_bridge_auth_proxy-35process has died [pid 13724, 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 + 11.12sERRORexecute_objective_bridge-30process[execute_objective_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORobjective_server_node_main-27process[objective_server_node_main-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORmove_end_effector_resampler_node-26process[move_end_effector_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORmove_joint_resampler_node-25process[move_joint_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORwaypoint_manager_node-24process[waypoint_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORparameter_manager_node-23process[parameter_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORmove_group-22process[move_group-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORros2_control_node-10process[ros2_control_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORfixed_lag_smoother_node-9process[fixed_lag_smoother_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORodom_qos_relay.py-6process[odom_qos_relay.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORamcl_odom_gate-5process[amcl_odom_gate-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.20sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.20sINFOweb_video_server-34sending signal 'SIGTERM' to process[web_video_server-34] ×2 + 11.23sINFOtf2_web_republisher_node-33sending signal 'SIGTERM' to process[tf2_web_republisher_node-33] ×2 + 11.25sINFOweb_bridge-32sending signal 'SIGTERM' to process[web_bridge-32] ×2 + 11.27sINFOui_teleop_bridge-31sending signal 'SIGTERM' to process[ui_teleop_bridge-31] ×2 + 11.29sINFOlaunchprocess[web_bridge_auth_proxy-35] was required: shutting down launched system ×2 + 11.30sINFOexecute_objective_bridge-30sending signal 'SIGTERM' to process[execute_objective_bridge-30] ×2 + 11.32sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 11.35sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.38sINFOobjective_server_node_main-27sending signal 'SIGTERM' to process[objective_server_node_main-27] ×2 + 11.41sINFOmove_end_effector_resampler_node-26sending signal 'SIGTERM' to process[move_end_effector_resampler_node-26] ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949009 ms (missed cycles : 2). + 11.44sINFOmove_joint_resampler_node-25sending signal 'SIGTERM' to process[move_joint_resampler_node-25] ×2 + 11.47sINFOwaypoint_manager_node-24sending signal 'SIGTERM' to process[waypoint_manager_node-24] ×2 + 11.50sINFOparameter_manager_node-23sending signal 'SIGTERM' to process[parameter_manager_node-23] ×2 + 11.52sINFOweb_video_server-34process has finished cleanly [pid 13723] ×2 + 11.52sINFOtf2_web_republisher_node-33process has finished cleanly [pid 13722] ×2 + 11.53sINFOmove_group-22sending signal 'SIGTERM' to process[move_group-22] ×2 + 11.57sINFOros2_control_node-10sending signal 'SIGTERM' to process[ros2_control_node-10] ×2 + 11.57sINFOcontroller_managerShutdown request received.... + 11.57sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.57sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.57sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.57sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.57sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.57sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.57sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.57sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.57sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.57sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.57sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.57sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.57sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.57sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.57sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.57sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.57sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.57sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.57sINFOcontroller_managerShutting down the controller manager. + 11.60sINFOfixed_lag_smoother_node-9sending signal 'SIGTERM' to process[fixed_lag_smoother_node-9] ×2 + 11.60sERRORui_teleop_bridge-31process has died [pid 13720, 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_uzz2bb_6']. ×2 + 11.62sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.63sERRORmove_group-22process has died [pid 13685, 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_uxxjyoun --params-file /tmp/launch_params_fzs189sz --params-file /tmp/launch_params_ldewjgs3 --params-file /tmp/launch_params_ih5brw4g --params-file /tmp/launch_params_5_uad1lc --params-file /tmp/launch_params_f805fsut']. ×2 + 11.65sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.65sINFOcomponent_container_mt-29process has finished cleanly [pid 13718] ×2 + 11.67sINFOodom_qos_relay.py-6sending signal 'SIGTERM' to process[odom_qos_relay.py-6] ×2 + 11.70sINFOamcl_odom_gate-5sending signal 'SIGTERM' to process[amcl_odom_gate-5] ×2 + 11.70sINFOexecute_objective_bridge-30process has finished cleanly [pid 13719] ×2 + 11.72sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] ×2 + 11.74sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] ×2 + 11.76sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.77sERRORobjective_server_node_main-27process has died [pid 13714, 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_v769b8_q --params-file /tmp/launch_params_am0ns4mf --params-file /tmp/launch_params_8979_x8a --params-file /tmp/launch_params_lvbkxtw8 --params-file /tmp/launch_params_nplyza3t --params-file /tmp/launch_params_8x1z2m5x --params-file /tmp/launch_params_44tyosy2 --params-file /tmp/launch_params_8ehijoec --params-file /tmp/launch_params_kd4xi2y2']. ×2 + 11.79sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.79sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.79sINFOcontroller_serverCleaning up + 11.79sINFOlocal_costmap.local_costmapCleaning up + 11.79sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.79sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.79sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.79sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.79sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.79sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.79sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.79sINFOui_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 + 11.79sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.79sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.79sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.79sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.79sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.79sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.79sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.79sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.80sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.80sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.80sINFOobjective_server_node[0;m[0m[INFO] [2026-07-23 23:30:31.349] signal_handler(SIGINT/SIGTERM)[0m ×2 + 11.80sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.80sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949009 ms (missed cycles : 2).[0m ×2 + 11.80sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.80sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.80sINFOlaunchprocess[tf2_web_republisher_node-33] was required: shutting down launched system ×2 + 11.81sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.81sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.81sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.81sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.81sERRORmove_groupStack trace (most recent call last) in thread 14330: ×2 + 11.81sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.81sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32922e1a63, in __clone ×2 + 11.81sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3292254aa3, in ×2 + 11.81sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f32924e6db3, in ×2 + 11.81sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f3292c29ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.81sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f32928594d0, in rclcpp::Rate::sleep() ×2 + 11.81sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f32927aca88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.81sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3292771a71, in ×2 + 11.81sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f32924b5390, in __cxa_throw ×2 + 11.81sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f329249fa54, in std::terminate() ×2 + 11.81sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f32924b50d9, in ×2 + 11.81sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f329249fff4, in ×2 + 11.81sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32921e08fe, in abort ×2 + 11.81sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32921fd27d, in raise ×2 + 11.81sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3292256b2c, in pthread_kill ×2 + 11.81sERRORmove_groupAborted (Signal sent by tkill() 13685 0) ×2 + 11.81sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.81sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.81sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.81sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.81sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.81sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.81sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.81sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.81sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.81sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.81sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.81sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.81sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.81sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.81sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.81sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.81sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.81sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.81sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.81sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.81sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.81sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.81sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.81sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.81sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.81sINFOobjective_server_node[2026-07-23 23:30:31.539] [moveit_pro_license] [info] ×2 + 11.81sINFOobjective_server_node************************************************* ×4 + 11.81sINFOobjective_server_node* MoveIt Pro License ×2 + 11.81sINFOobjective_server_node* Application has successfully terminated ×2 + 11.81sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.82sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.82sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.82sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.82sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c4c12fa6a4, in _start ×2 + 11.82sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2cf032e28a, in __libc_start_main ×2 + 11.82sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2cf032e1d0, in ×2 + 11.82sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2cf034bbbd, in exit ×2 + 11.82sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2cf034ba75, in ×2 + 11.82sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f2cf081a8f5, in spdlog::details::registry::~registry() ×2 + 11.82sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c4c12fad79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.82sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c4c1301315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.82sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c4c13005a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.82sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c4c12fcb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.82sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c4c12fad79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.82sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2cf0ed0454, in rclcpp::Node::~Node() ×2 + 11.82sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2cf0e8b515, in ×2 + 11.82sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2cf0eced20, in ×2 + 11.82sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2cf0ecec63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.82sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2cf0e8b5d9, in ×2 + 11.82sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2cf0e90161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.82sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f2c9e137090]) ×2 + 11.82sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.82sINFOodom_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 + 11.82sINFOodom_qos_relay.pymain() ×2 + 11.82sINFOodom_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 + 11.82sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.82sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.82sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.82sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.82sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.82sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.82sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.82sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.82sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.82sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.82sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.82sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.82sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.82sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.83sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.83sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.83sERRORodom_world_drift.pyTraceback (most recent call last): ×2 + 11.83sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 142, in <module> ×2 + 11.83sINFOodom_world_drift.pymain() ×2 + 11.83sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 133, in main ×2 + 11.83sINFOodom_world_drift.pyrclpy.spin(node) ×2 + 11.83sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.83sINFOodom_world_drift.pyexecutor.spin_once() ×2 + 11.83sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.83sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) ×2 + 11.83sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.83sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.83sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.83sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.83sINFOodom_world_drift.pyreturn next(self._cb_iter) ×2 + 11.83sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.83sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.83sINFOodom_world_drift.pyraise ExternalShutdownException() ×2 + 11.83sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException ×2 + 11.83sINFOlaunchprocess[objective_server_node_main-27] was required: shutting down launched system ×2 + 11.83sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.83sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.83sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.83sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.83sINFOmap_serverDeactivating + 11.83sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.83sINFOros2_control_nodepublish_async_failures_ 3[0m ×4 + 11.84sINFOmap_serverCleaning up + 11.84sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.84sINFOsmoother_serverCleaning up + 11.86sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.86sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.86sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.86sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.86sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.86sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.86sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.88sERRORamclThe bond connection to the lifecycle manager has been broken + 11.89sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.89sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.89sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.89sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.89sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.89sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.89sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.48sINFOmove_end_effector_resampler_node-26process has finished cleanly [pid 13713] ×2 + 12.50sINFOmove_joint_resampler_node-25process has finished cleanly [pid 13712] ×2 + 12.50sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784849431.354 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.59sINFOparameter_manager_node-23process has finished cleanly [pid 13686] ×2 + 12.60sINFOwaypoint_manager_node-24process has finished cleanly [pid 13711] ×2 + 12.61sINFOcomponent_container_mt-28process has finished cleanly [pid 13717] ×2 + 12.67sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 13593] ×2 + 12.69sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 13592] ×2 + 12.71sINFOfixed_lag_smoother_node-9process has finished cleanly [pid 13594] ×2 + 12.77sINFOslip_aware_odom-4process has finished cleanly [pid 13589] ×2 + 12.77sERRORodom_qos_relay.py-6process has died [pid 13591, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.81sINFOstatic_transform_publisher-2process has finished cleanly [pid 13587] ×2 + 13.74sINFOamcl_odom_gate-5process has finished cleanly [pid 13590] ×2 + 13.83sERRORodom_world_drift.py-3process has died [pid 13588, 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_3c37d8ca']. ×2 + 14.16sINFOweb_bridge-32process has finished cleanly [pid 13721] ×2 + 14.16sINFOlaunchprocess[web_bridge-32] was required: shutting down launched system ×2 + 14.40sINFOros2_control_node-10process has finished cleanly [pid 13673] ×2 + 16.04sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 16.06sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 + 16.07sERRORcomponent_container_isolated-1process has died [pid 13586, 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_lz9wdw3i --params-file /tmp/launch_params_n464f0l9 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 9 errors · 53 warnings · 122 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.598ms + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.683ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673597 ms (missed cycles : 3). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673597 ms (missed cycles : 3).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.936ms + 1.13sINFOjoint_trajectory_controllerGoal reached, success! + 1.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188154 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188154 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.583ms + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978182 ms (missed cycles : 3). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978182 ms (missed cycles : 3).[0m ×2 + 3.67sWARNstate_estimatorOptimization exceeded the configured duration by 4063569ns + 3.77sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.78sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. ×3 + 3.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784849311.95075917 seconds ×3 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.625ms + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389826 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389826 ms (missed cycles : 3).[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.278ms + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.291ms + 4.47sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784849312.63789296 seconds. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 10.077ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.687ms + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.768ms + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.869ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748145 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748145 ms (missed cycles : 3).[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.597ms + 5.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.649ms + 5.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.938ms + 5.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.004ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.467ms + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.803305 ms (missed cycles : 7). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.803305 ms (missed cycles : 7).[0m ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.469ms + 6.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.841ms + 6.36sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.36sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.36sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 7.040ms + 6.92sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.466ms + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616411 ms (missed cycles : 3). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616411 ms (missed cycles : 3).[0m ×2 + 7.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.861ms + 7.42sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.890ms + 7.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.958ms + 7.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.848ms + 8.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.126ms + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.860607 ms (missed cycles : 6). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.860607 ms (missed cycles : 6).[0m ×2 + 8.52sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.576ms + 9.00sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 5.934ms + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746194 ms (missed cycles : 3). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746194 ms (missed cycles : 3).[0m ×2 + 9.29sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 3.222ms + 9.60sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 2.669ms + 9.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.532ms + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.718261 ms (missed cycles : 6). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.718261 ms (missed cycles : 6).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.990ms + 10.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.750ms + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.095ms + 11.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.588709 ms (missed cycles : 6). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.588709 ms (missed cycles : 6).[0m ×2 + 11.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.703ms + 11.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.447ms + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.270ms + 11.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 12.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.804ms + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886857 ms (missed cycles : 3). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886857 ms (missed cycles : 3).[0m ×2 + 12.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.884ms + 12.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.419ms + 12.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.629ms + 13.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.829ms + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948490 ms (missed cycles : 3). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948490 ms (missed cycles : 3).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.101ms + 13.70sWARNstate_estimatorOptimization exceeded the configured duration by 34828637ns + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.566ms + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.050ms + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005468 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005468 ms (missed cycles : 2).[0m ×2 + 14.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.015ms + 14.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.675ms + 14.89sINFOjoint_trajectory_controllerGot request to cancel goal + 14.89sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.89sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.275ms ×2 + 14.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784849323.07924700 seconds ×3 + 15.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.075ms + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628482 ms (missed cycles : 3). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628482 ms (missed cycles : 3).[0m ×2 + 15.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.195ms + 15.47sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784849323.64423108 seconds. ×3 + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.642ms + 15.85sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 16.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.355ms + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.961ms + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133404 ms (missed cycles : 5). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133404 ms (missed cycles : 5).[0m ×2 + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.403ms + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.817ms + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 17.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.493ms + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.952ms + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272432 ms (missed cycles : 3). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272432 ms (missed cycles : 3).[0m ×2 + 17.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.806ms + 17.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.046ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 38 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862082 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862082 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482432 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482432 ms (missed cycles : 6).[0m ×2 + 1.53sWARNstate_estimatorOptimization exceeded the configured duration by 76381460ns + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890415 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890415 ms (missed cycles : 2).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.947ms + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265170 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265170 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.52sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784849243.21775436 seconds ×3 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.885ms + 3.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.327ms + 3.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.355ms + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.502ms + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784849243.79561591 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737146 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737146 ms (missed cycles : 5).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.031ms + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.52sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.52sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.991ms + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.048ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797108 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797108 ms (missed cycles : 2).[0m ×2 + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.900ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.968ms + 6.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.420ms + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455591 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455591 ms (missed cycles : 4).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.894ms + 7.11sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.765ms + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067761 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067761 ms (missed cycles : 3).[0m ×2 + 7.59sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.451ms + 8.17sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784849247.84576559 seconds ×3 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475163 ms (missed cycles : 2). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475163 ms (missed cycles : 2).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679731 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679731 ms (missed cycles : 2).[0m ×2 + 9.74sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784849249.41694617 seconds. ×3 + 10.13sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777170 ms (missed cycles : 3). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777170 ms (missed cycles : 3).[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642683 ms (missed cycles : 3). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642683 ms (missed cycles : 3).[0m ×2 + 11.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.64sWARNstate_estimatorOptimization exceeded the configured duration by 88790880ns | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 31 warnings · 67 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924235 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924235 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069322 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069322 ms (missed cycles : 5).[0m ×2 + 1.49sWARNstate_estimatorOptimization exceeded the configured duration by 26586146ns + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681645 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681645 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.801981 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.801981 ms (missed cycles : 5).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.39sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784849182.80903411 seconds ×3 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 3.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 3.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784849183.35720539 seconds. ×3 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368996 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368996 ms (missed cycles : 3).[0m ×2 + 4.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.254e-05 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.97sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.97sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.97sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117605 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117605 ms (missed cycles : 5).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100230 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100230 ms (missed cycles : 2).[0m ×2 + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 7.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 7.07sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784849186.43733692 seconds ×3 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189121 ms (missed cycles : 4). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189121 ms (missed cycles : 4).[0m ×2 + 7.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 7.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784849186.98760128 seconds. ×3 + 7.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 7.98sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117395 ms (missed cycles : 5). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117395 ms (missed cycles : 5).[0m ×2 + 8.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970657 ms (missed cycles : 5). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970657 ms (missed cycles : 5).[0m ×2 + 9.57sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 25 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244691 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244691 ms (missed cycles : 5).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.741ms + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.816ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.885ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742954 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742954 ms (missed cycles : 3).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.761ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611762 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611762 ms (missed cycles : 4).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.053ms + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.122ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804499 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804499 ms (missed cycles : 4).[0m ×2 + 3.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784849422.84465885 seconds ×3 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.666ms + 4.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.593ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.172214 ms (missed cycles : 7). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.172214 ms (missed cycles : 7).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 4.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784849423.43945384 seconds. ×3 + 4.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.59sINFOmove_groupClearing octomap...[0m ×2 + 4.59sINFOmove_groupOctomap cleared.[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.817ms + 5.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784849423.98352170 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040462 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040462 ms (missed cycles : 3).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.385ms + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.475ms + 5.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784849424.54407859 seconds. ×3 + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 5.79sWARNstate_estimatorOptimization exceeded the configured duration by 112519820ns + 6.01sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 2.563ms + 6.12sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 2.461ms + 6.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784849425.13427758 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826146 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826146 ms (missed cycles : 3).[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.867ms + 6.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 6.51sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 7.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.023ms + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243965 ms (missed cycles : 4). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243965 ms (missed cycles : 4).[0m ×2 + 7.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 22 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 4.94sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674586 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674586 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 22 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862082 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862082 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482432 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482432 ms (missed cycles : 6).[0m ×2 + 1.53sWARNstate_estimatorOptimization exceeded the configured duration by 76381460ns + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890415 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890415 ms (missed cycles : 2).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.947ms + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265170 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265170 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784849243.21775436 seconds ×3 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.885ms + 3.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.327ms + 3.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.355ms + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.502ms + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784849243.79561591 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737146 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737146 ms (missed cycles : 5).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.031ms + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.991ms + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.048ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797108 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797108 ms (missed cycles : 2).[0m ×2 + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.900ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.968ms + 6.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.420ms + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455591 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455591 ms (missed cycles : 4).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.894ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 22 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862082 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862082 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482432 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482432 ms (missed cycles : 6).[0m ×2 + 1.53sWARNstate_estimatorOptimization exceeded the configured duration by 76381460ns + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890415 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890415 ms (missed cycles : 2).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.947ms + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265170 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265170 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784849243.21775436 seconds ×3 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.885ms + 3.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.327ms + 3.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.355ms + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.502ms + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784849243.79561591 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737146 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737146 ms (missed cycles : 5).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.031ms + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.991ms + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.048ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797108 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797108 ms (missed cycles : 2).[0m ×2 + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.900ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.968ms + 6.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.420ms + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455591 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455591 ms (missed cycles : 4).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.894ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 19 warnings · 57 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.283ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 0.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954032 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954032 ms (missed cycles : 2).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.770ms + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261386 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261386 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.725ms + 2.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758261 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758261 ms (missed cycles : 3).[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.829ms + 3.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.879ms + 3.73sINFOjoint_trajectory_controllerGoal reached, success! + 3.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784849279.73709512 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.895ms + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237867 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237867 ms (missed cycles : 2).[0m ×2 + 4.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.236ms + 4.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.299ms + 4.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784849280.30053449 seconds. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.726ms + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.950ms + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.000644 ms (missed cycles : 8). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.000644 ms (missed cycles : 8).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.627ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.308ms + 5.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.938ms + 5.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.293ms + 5.69sWARNstate_estimatorOptimization exceeded the configured duration by 16187552ns + 5.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.543ms + 5.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.932ms + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962270 ms (missed cycles : 4). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962270 ms (missed cycles : 4).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.532ms + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.892ms + 6.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.589ms + 6.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.629ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 19 warnings · 57 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.283ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 0.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954032 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954032 ms (missed cycles : 2).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.770ms + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261386 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261386 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.725ms + 2.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758261 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758261 ms (missed cycles : 3).[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.829ms + 3.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.879ms + 3.73sINFOjoint_trajectory_controllerGoal reached, success! + 3.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784849279.73709512 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.895ms + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237867 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237867 ms (missed cycles : 2).[0m ×2 + 4.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.236ms + 4.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.299ms + 4.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784849280.30053449 seconds. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.726ms + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.950ms + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.000644 ms (missed cycles : 8). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.000644 ms (missed cycles : 8).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.627ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.308ms + 5.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.938ms + 5.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.293ms + 5.69sWARNstate_estimatorOptimization exceeded the configured duration by 16187552ns + 5.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.543ms + 5.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.932ms + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962270 ms (missed cycles : 4). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962270 ms (missed cycles : 4).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.532ms + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.892ms + 6.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.589ms + 6.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.629ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 19 warnings · 57 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.283ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 0.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954032 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954032 ms (missed cycles : 2).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.770ms + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261386 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261386 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.725ms + 2.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758261 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758261 ms (missed cycles : 3).[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.829ms + 3.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.879ms + 3.73sINFOjoint_trajectory_controllerGoal reached, success! + 3.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784849279.73709512 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.895ms + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237867 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237867 ms (missed cycles : 2).[0m ×2 + 4.02sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.236ms + 4.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.299ms + 4.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784849280.30053449 seconds. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.726ms + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.950ms + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.000644 ms (missed cycles : 8). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.000644 ms (missed cycles : 8).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.627ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.308ms + 5.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.938ms + 5.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.293ms + 5.69sWARNstate_estimatorOptimization exceeded the configured duration by 16187552ns + 5.82sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.543ms + 5.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.932ms + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962270 ms (missed cycles : 4). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962270 ms (missed cycles : 4).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.532ms + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.892ms + 6.62sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.589ms + 6.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.629ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.76sINFOmove_groupClearing octomap...[0m ×2 + 3.76sINFOmove_groupOctomap cleared.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 5.63sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[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 - 2.447ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.048ms + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.667ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.722ms + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sWARNstate_estimatorOptimization exceeded the configured duration by 34471480ns + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.93sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849354.09477377 seconds ×3 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.147ms + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.161ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.233ms + 4.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849354.71310210 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.457ms + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.679ms + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.458ms + 5.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.921ms + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.911ms + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.452ms + 5.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.754ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.033ms + 6.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.639ms + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.652ms + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.341ms + 6.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.222ms | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.76sINFOmove_groupClearing octomap...[0m ×2 + 3.76sINFOmove_groupOctomap cleared.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 5.63sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[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 - 2.447ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.048ms + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.667ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.722ms + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sWARNstate_estimatorOptimization exceeded the configured duration by 34471480ns + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.93sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849354.09477377 seconds ×3 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.147ms + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.161ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.233ms + 4.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849354.71310210 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.457ms + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.679ms + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.458ms + 5.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.921ms + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.911ms + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.452ms + 5.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.754ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.033ms + 6.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.639ms + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.652ms + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.341ms + 6.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.222ms | ||||
| − 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 - 2.447ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.048ms + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.667ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.722ms + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sWARNstate_estimatorOptimization exceeded the configured duration by 34471480ns + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.93sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849354.09477377 seconds ×3 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.147ms + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.161ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.233ms + 4.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849354.71310210 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.457ms + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.679ms + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.458ms + 5.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.921ms + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.911ms + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.452ms + 5.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.754ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.033ms + 6.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.639ms + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.652ms + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.341ms + 6.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.222ms | ||||
| − 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 - 2.447ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.048ms + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.667ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.722ms + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sWARNstate_estimatorOptimization exceeded the configured duration by 34471480ns + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.93sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849354.09477377 seconds ×3 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.147ms + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.161ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.233ms + 4.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849354.71310210 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.457ms + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.679ms + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.458ms + 5.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.921ms + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.911ms + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.452ms + 5.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.754ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.033ms + 6.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.639ms + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.652ms + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.341ms + 6.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.222ms | ||||
| − 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 - 2.447ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.048ms + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.667ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.722ms + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sWARNstate_estimatorOptimization exceeded the configured duration by 34471480ns + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.93sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849354.09477377 seconds ×3 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.147ms + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.161ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.233ms + 4.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849354.71310210 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.457ms + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.679ms + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.458ms + 5.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.921ms + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.911ms + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.452ms + 5.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.754ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.033ms + 6.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.639ms + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.652ms + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.341ms + 6.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.222ms | ||||
| − 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 - 2.447ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.048ms + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.667ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.722ms + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sWARNstate_estimatorOptimization exceeded the configured duration by 34471480ns + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.93sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849354.09477377 seconds ×3 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.147ms + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.161ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.233ms + 4.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849354.71310210 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.457ms + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.679ms + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.458ms + 5.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.921ms + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.911ms + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.452ms + 5.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.754ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.033ms + 6.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.639ms + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.652ms + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.341ms + 6.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.222ms | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 22 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924235 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924235 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069322 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069322 ms (missed cycles : 5).[0m ×2 + 1.49sWARNstate_estimatorOptimization exceeded the configured duration by 26586146ns + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681645 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681645 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.801981 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.801981 ms (missed cycles : 5).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784849182.80903411 seconds ×3 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 3.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 3.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784849183.35720539 seconds. ×3 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368996 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368996 ms (missed cycles : 3).[0m ×2 + 4.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.254e-05 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117605 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117605 ms (missed cycles : 5).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100230 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100230 ms (missed cycles : 2).[0m ×2 + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 22 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924235 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924235 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069322 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069322 ms (missed cycles : 5).[0m ×2 + 1.49sWARNstate_estimatorOptimization exceeded the configured duration by 26586146ns + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681645 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681645 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.801981 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.801981 ms (missed cycles : 5).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784849182.80903411 seconds ×3 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 3.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 3.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784849183.35720539 seconds. ×3 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368996 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368996 ms (missed cycles : 3).[0m ×2 + 4.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.254e-05 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117605 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117605 ms (missed cycles : 5).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100230 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100230 ms (missed cycles : 2).[0m ×2 + 6.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.76sINFOmove_groupClearing octomap...[0m ×2 + 3.76sINFOmove_groupOctomap cleared.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 5.63sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 67 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784849182.80903411 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 0.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784849183.35720539 seconds. ×3 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368996 ms (missed cycles : 3). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368996 ms (missed cycles : 3).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 1.55sINFOobjective_server_nodeFound path in 0 iterations (2.254e-05 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117605 ms (missed cycles : 5). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117605 ms (missed cycles : 5).[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100230 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100230 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 3.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 3.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784849186.43733692 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189121 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189121 ms (missed cycles : 4).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 4.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784849186.98760128 seconds. ×3 + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117395 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117395 ms (missed cycles : 5).[0m ×2 + 5.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970657 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970657 ms (missed cycles : 5).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 22 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862082 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862082 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482432 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482432 ms (missed cycles : 6).[0m ×2 + 1.53sWARNstate_estimatorOptimization exceeded the configured duration by 76381460ns + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890415 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890415 ms (missed cycles : 2).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.947ms + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265170 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265170 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784849243.21775436 seconds ×3 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.885ms + 3.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.327ms + 3.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.355ms + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.502ms + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784849243.79561591 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737146 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737146 ms (missed cycles : 5).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.031ms + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.991ms + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.048ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797108 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797108 ms (missed cycles : 2).[0m ×2 + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.900ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.968ms + 6.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.420ms + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455591 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455591 ms (missed cycles : 4).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.894ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 22 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862082 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862082 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482432 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482432 ms (missed cycles : 6).[0m ×2 + 1.53sWARNstate_estimatorOptimization exceeded the configured duration by 76381460ns + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890415 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890415 ms (missed cycles : 2).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.947ms + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265170 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265170 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784849243.21775436 seconds ×3 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.885ms + 3.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.327ms + 3.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.355ms + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.502ms + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784849243.79561591 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737146 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737146 ms (missed cycles : 5).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.031ms + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.991ms + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.048ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797108 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797108 ms (missed cycles : 2).[0m ×2 + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.900ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.968ms + 6.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.420ms + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455591 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455591 ms (missed cycles : 4).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.894ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 22 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862082 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862082 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482432 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482432 ms (missed cycles : 6).[0m ×2 + 1.53sWARNstate_estimatorOptimization exceeded the configured duration by 76381460ns + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890415 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890415 ms (missed cycles : 2).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.947ms + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265170 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265170 ms (missed cycles : 2).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784849243.21775436 seconds ×3 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.885ms + 3.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 3.327ms + 3.81sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.355ms + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 8.502ms + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784849243.79561591 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737146 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737146 ms (missed cycles : 5).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.031ms + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.991ms + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.048ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797108 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797108 ms (missed cycles : 2).[0m ×2 + 5.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.900ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.968ms + 6.09sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.420ms + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455591 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455591 ms (missed cycles : 4).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.894ms | ||||
| − 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 - 2.447ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.048ms + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.667ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.722ms + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sWARNstate_estimatorOptimization exceeded the configured duration by 34471480ns + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.93sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849354.09477377 seconds ×3 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.147ms + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.161ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.233ms + 4.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849354.71310210 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.457ms + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.679ms + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.458ms + 5.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.921ms + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.911ms + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.452ms + 5.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.754ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.033ms + 6.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.639ms + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.652ms + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.341ms + 6.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.222ms | ||||
| − 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 - 2.447ms + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864587 ms (missed cycles : 4).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.970ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.048ms + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.667ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296983 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.431ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711841 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.722ms + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sWARNstate_estimatorOptimization exceeded the configured duration by 34471480ns + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016492 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. ×2 + 3.93sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. ×3 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849354.09477377 seconds ×3 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.147ms + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.161ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717480 ms (missed cycles : 2).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.233ms + 4.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849354.71310210 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.457ms + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.679ms + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.12sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.458ms + 5.31sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.921ms + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210122 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.911ms + 5.69sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.452ms + 5.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.754ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.033ms + 6.21sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.639ms + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.652ms + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183329 ms (missed cycles : 3).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 6.341ms + 6.79sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 5.222ms | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 22 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244691 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244691 ms (missed cycles : 5).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.741ms + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.816ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.885ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742954 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742954 ms (missed cycles : 3).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.761ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611762 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611762 ms (missed cycles : 4).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.053ms + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.122ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804499 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804499 ms (missed cycles : 4).[0m ×2 + 3.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784849422.84465885 seconds ×3 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.666ms + 4.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.593ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.172214 ms (missed cycles : 7). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.172214 ms (missed cycles : 7).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 4.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784849423.43945384 seconds. ×3 + 4.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.59sINFOmove_groupClearing octomap...[0m ×2 + 4.59sINFOmove_groupOctomap cleared.[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.817ms + 5.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784849423.98352170 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040462 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040462 ms (missed cycles : 3).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.385ms + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.475ms + 5.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784849424.54407859 seconds. ×3 + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 5.79sWARNstate_estimatorOptimization exceeded the configured duration by 112519820ns + 6.01sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 2.563ms + 6.12sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 2.461ms + 6.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784849425.13427758 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826146 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826146 ms (missed cycles : 3).[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.867ms + 6.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 6.51sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 30.9s | 70 errors · 697 warnings · 1933 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/2026-07-23-23-19-32-586168-776b80e70aef-9402 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 12.84sINFOros2_control_node-10process started with pid [9527] + 12.84sINFOmove_group-22process started with pid [9551] + 12.84sINFOparameter_manager_node-23process started with pid [9552] + 12.84sINFOwaypoint_manager_node-24process started with pid [9570] + 12.84sINFOmove_joint_resampler_node-25process started with pid [9571] + 12.84sINFOmove_end_effector_resampler_node-26process started with pid [9572] + 12.85sINFOobjective_server_node_main-27process started with pid [9574] + 12.85sINFOcomponent_container_mt-28process started with pid [9575] + 12.85sINFOcomponent_container_mt-29process started with pid [9576] + 12.85sINFOexecute_objective_bridge-30process started with pid [9577] + 12.85sINFOui_teleop_bridge-31process started with pid [9578] + 12.85sINFOweb_bridge-32process started with pid [9579] + 12.85sINFOtf2_web_republisher_node-33process started with pid [9581] + 12.85sINFOweb_video_server-34process started with pid [9582] + 12.85sINFOweb_bridge_auth_proxy-35process started with pid [9583] + 12.85sINFOweb_video_auth_proxy-36process started with pid [9584] + 12.85sINFOcomponent_container_isolated-1process started with pid [9452] + 12.87sINFOstatic_transform_publisher-2process started with pid [9453] + 12.87sINFOodom_world_drift.py-3process started with pid [9454] + 12.87sINFOslip_aware_odom-4process started with pid [9455] + 12.87sINFOamcl_odom_gate-5process started with pid [9456] + 12.87sINFOodom_qos_relay.py-6process started with pid [9457] + 12.87sINFOscan_to_scan_filter_chain-7process started with pid [9458] + 12.87sINFOscan_to_scan_filter_chain-8process started with pid [9459] + 12.87sINFOfixed_lag_smoother_node-9process started with pid [9460] + 12.87sINFOros2-11process started with pid [9529] + 12.87sINFOros2-12process started with pid [9530] + 12.87sINFOros2-13process started with pid [9531] + 12.87sINFOros2-14process started with pid [9534] + 12.87sINFOros2-15process started with pid [9535] + 12.87sINFOros2-16process started with pid [9536] + 12.87sINFOros2-17process started with pid [9537] + 12.87sINFOros2-18process started with pid [9538] + 12.87sINFOros2-19process started with pid [9547] + 12.87sINFOros2-20process started with pid [9548] + 12.87sINFOros2-21process started with pid [9550] + 12.94sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×3 + 12.94sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×3 + 12.94sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×3 + 12.94sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×3 + 12.94sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 12.94sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 12.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 12.97sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 12.97sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 12.97sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 12.97sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 12.97sWARNros2_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 + 13.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 13.05sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 13.05sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 13.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.08sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 13.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×3 + 13.24sINFOcomponent_container_mtRobot initialized[0m ×3 + 13.25sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 13.25sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 13.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 13.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 13.27sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 13.27sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 13.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 13.36sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 13.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 13.47sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 13.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 13.55sINFOmove_groupLoaded robot model in 0.350442 seconds[0m + 13.55sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 13.55sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[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 + 13.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 13.65sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 13.65sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 13.65sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 13.65sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 13.65sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 13.65sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 13.66sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 13.66sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 13.66sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202[0m ×3 + 13.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192828 ms (missed cycles : 2).[0m + 13.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 13.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 13.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 13.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 14.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 14.54sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 14.54sWARNmove_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 + 14.54sWARNmove_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 + 14.54sWARNmove_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 + 14.55sWARNmove_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 + 14.55sWARNmove_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 + 14.55sWARNmove_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 + 14.56sWARNmove_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 + 14.56sWARNmove_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 + 14.57sWARNmove_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 + 14.57sWARNmove_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 + 14.70sINFOwaypoint_manager_nodeLoaded robot model in 0.434512 seconds[0m + 14.70sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 14.70sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.72sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×11 + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297084 ms (missed cycles : 2).[0m + 14.97sINFOmove_group[2026-07-23 23:19:50.736] [moveit_pro_license] [info] + 14.97sINFOmove_group************************************************* ×6 + 14.97sINFOmove_group* MoveIt Pro License ×3 + 14.97sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 14.98sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 14.98sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 15.19sWARNwaypoint_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 + 15.19sWARNwaypoint_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 + 15.20sWARNwaypoint_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 + 15.20sWARNwaypoint_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 + 15.20sWARNwaypoint_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 + 15.20sWARNwaypoint_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 + 15.20sWARNwaypoint_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 + 15.20sWARNwaypoint_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 + 15.20sWARNwaypoint_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 + 15.20sWARNwaypoint_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 + 15.20sWARNwaypoint_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 + 15.21sWARNwaypoint_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 + 15.21sWARNwaypoint_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 + 15.21sWARNwaypoint_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 + 15.21sWARNwaypoint_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 + 15.21sWARNwaypoint_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 + 15.22sWARNwaypoint_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 + 15.22sWARNwaypoint_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 + 15.22sWARNwaypoint_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 + 15.22sWARNwaypoint_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 + 15.22sWARNwaypoint_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 + 15.22sWARNwaypoint_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 + 15.22sWARNwaypoint_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 + 15.23sWARNwaypoint_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 + 15.23sWARNwaypoint_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 + 15.23sWARNwaypoint_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 + 15.23sWARNwaypoint_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 + 15.23sWARNwaypoint_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 + 15.40sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 15.40sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 15.40sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 15.40sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.40sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 15.41sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 15.41sINFOmove_groupStarting planning scene monitor[0m ×3 + 15.41sINFOmove_groupListening to '/planning_scene'[0m ×3 + 15.41sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 15.42sINFOmove_groupListening to 'collision_object'[0m ×3 + 15.42sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 15.58sINFOwaypoint_manager_node[2026-07-23 23:19:51.344] [moveit_pro_license] [info] + 15.58sINFOwaypoint_manager_node************************************************* ×6 + 15.58sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 15.58sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 15.89sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 15.89sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.90sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 15.90sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 15.90sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 15.90sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 15.90sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 15.90sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 15.90sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 15.90sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 15.90sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 15.90sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 15.90sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 15.90sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 15.90sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 15.90sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 15.90sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 15.90sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 15.90sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 15.90sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 15.90sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 15.90sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 15.90sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342804 ms (missed cycles : 2).[0m + 15.95sWARNros2_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 + 15.98sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 15.98sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 16.02sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7e44280l --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_apxlgpk3 --params-file /tmp/launch_params_2yvxuzxi [0m + 16.06sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 16.06sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 16.07sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 16.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 16.08sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 16.25sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 16.25sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 16.25sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 16.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 16.25sINFOcomponent_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 + 16.26sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 16.33sINFOobjective_server_node[2026-07-23 23:19:52.091] [moveit_pro_license] [info] + 16.33sINFOobjective_server_node************************************************* ×8 + 16.33sINFOobjective_server_node* MoveIt Pro License ×4 + 16.33sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.35sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.40sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 16.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 16.40sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 16.40sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7e44280l --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_apxlgpk3 --params-file /tmp/launch_params_2yvxuzxi [0m + 16.40sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 16.43sINFOobjective_server_nodeLoaded robot model in 0.0284584 seconds[0m + 16.43sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 16.43sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.45sINFOros2-12process has finished cleanly [pid 9530] + 16.47sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 16.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 16.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 16.48sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 16.49sINFOros2_control_nodeconfigure successful[0m ×9 + 16.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 16.50sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 16.51sINFOcomponent_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 + 16.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.60sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 16.79sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 16.79sWARNobjective_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 + 16.79sWARNobjective_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 + 16.80sWARNobjective_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 + 16.80sWARNobjective_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 + 16.80sWARNobjective_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 + 16.80sWARNobjective_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 + 16.80sWARNobjective_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 + 16.80sWARNobjective_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 + 16.80sWARNobjective_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 + 16.80sWARNobjective_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 + 16.82sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 16.82sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 16.84sINFOros2-11process has finished cleanly [pid 9529] + 16.88sINFOobjective_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 + 16.88sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 16.90sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 16.90sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 16.90sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 16.90sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 16.90sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 16.90sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 16.91sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688589 ms (missed cycles : 2).[0m + 16.95sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 16.95sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 17.00sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 17.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 17.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7e44280l --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_apxlgpk3 --params-file /tmp/launch_params_2yvxuzxi [0m + 17.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 17.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 17.01sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 17.01sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 17.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 17.06sINFOcomponent_container_mtLoaded robot model in 0.463095 seconds[0m + 17.06sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 17.06sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 17.08sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 17.08sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 17.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 17.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 17.12sINFOmove_group ×12 + 17.12sINFOmove_group******************************************************** ×6 + 17.12sINFOmove_group* MoveGroup using: ×3 + 17.12sINFOmove_group* - apply_planning_scene_service ×3 + 17.12sINFOmove_group* - clear_octomap_service ×3 + 17.12sINFOmove_group* - get_group_urdf ×3 + 17.12sINFOmove_group* - load_geometry_from_file ×3 + 17.12sINFOmove_group* - get_planning_scene_service ×3 + 17.12sINFOmove_group* - kinematics_service ×3 + 17.12sINFOmove_group* - save_geometry_to_file ×3 + 17.12sINFOmove_group* - GetPlanningGroups ×3 + 17.12sINFOmove_group* - URDFPlanningSceneCapability ×3 + 17.12sINFOmove_group[0m ×3 + 17.12sINFOmove_group[92mYou can start planning now![0m ×3 + 17.17sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 17.45sWARNcomponent_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 + 17.45sWARNcomponent_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 + 17.45sWARNcomponent_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 + 17.46sWARNcomponent_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 + 17.46sWARNcomponent_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 + 17.46sWARNcomponent_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 + 17.46sWARNcomponent_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 + 17.46sWARNcomponent_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 + 17.46sWARNcomponent_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 + 17.46sWARNcomponent_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 + 17.46sWARNcomponent_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 + 17.46sWARNcomponent_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 + 17.47sWARNcomponent_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 + 17.47sWARNcomponent_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 + 17.47sWARNcomponent_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 + 17.47sWARNcomponent_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 + 17.47sWARNcomponent_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 + 17.47sWARNcomponent_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 + 17.47sWARNcomponent_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 + 17.47sWARNcomponent_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 + 17.47sWARNcomponent_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 + 17.47sWARNcomponent_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 + 17.47sWARNcomponent_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 + 17.47sWARNcomponent_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 + 17.47sWARNcomponent_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 + 17.48sWARNcomponent_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 + 17.48sINFOros2_control_node[2026-07-23 23:19:53.238] [warning] No force/torque sensor configured. The VFC will ignore force references. + 17.48sWARNcomponent_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 + 17.48sWARNcomponent_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 + 17.48sINFOros2_control_node[2026-07-23 23:19:53.243] [info] Controller state will be published at 10 Hz. + 17.48sINFOros2_control_node[2026-07-23 23:19:53.245] [info] VelocityForceController 'on_configure' succeeded. + 17.73sINFOcomponent_container_mt[2026-07-23 23:19:53.490] [moveit_pro_license] [info] + 17.73sINFOcomponent_container_mt************************************************* ×6 + 17.73sINFOcomponent_container_mt* MoveIt Pro License ×3 + 17.73sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 17.85sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 17.85sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 17.86sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_7e44280l --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_apxlgpk3 --params-file /tmp/launch_params_2yvxuzxi [0m + 17.88sINFOros2-18process has finished cleanly [pid 9538] + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610284 ms (missed cycles : 4).[0m + 17.93sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 17.94sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 18.05sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 18.06sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 18.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 18.06sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 18.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 18.33sINFOros2-16process has finished cleanly [pid 9536] + 18.34sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 18.34sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 18.35sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7e44280l --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_apxlgpk3 --params-file /tmp/launch_params_2yvxuzxi [0m + 18.36sWARNobjective_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 + 18.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 18.38sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 18.39sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 18.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 18.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 18.41sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 18.70sINFOros2-15process has finished cleanly [pid 9535] + 18.84sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484521 ms (missed cycles : 4).[0m + 18.95sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 18.95sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 18.96sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7e44280l --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_apxlgpk3 --params-file /tmp/launch_params_2yvxuzxi [0m + 19.04sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 19.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 19.04sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 19.04sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 19.04sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 19.04sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 19.04sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 19.05sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 19.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 19.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 19.42sINFOros2-17process has finished cleanly [pid 9537] + 19.49sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7e44280l --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_apxlgpk3 --params-file /tmp/launch_params_2yvxuzxi [0m + 19.56sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 19.56sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 19.93sINFOros2_control_node[2026-07-23 23:19:55.696] [info] Controller state will be published at 20 Hz. + 19.93sINFOros2_control_node[2026-07-23 23:19:55.697] [info] JointVelocityController 'on_configure' succeeded. + 20.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069381 ms (missed cycles : 2).[0m + 20.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 20.28sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 20.28sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7e44280l --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_apxlgpk3 --params-file /tmp/launch_params_2yvxuzxi [0m + 20.30sINFOros2-21process has finished cleanly [pid 9550] + 20.35sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 20.35sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 20.70sINFOros2_control_node[2026-07-23 23:19:56.461] [info] Controller state will be published at 20 Hz. + 20.70sINFOros2_control_node[2026-07-23 23:19:56.462] [info] JointVelocityController 'on_configure' succeeded. + 21.06sINFOros2-20process has finished cleanly [pid 9548] + 21.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355138 ms (missed cycles : 3).[0m + 21.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 21.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 21.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7e44280l --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_apxlgpk3 --params-file /tmp/launch_params_2yvxuzxi [0m + 21.38sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 21.38sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 21.74sINFOros2_control_node[2026-07-23 23:19:57.500] [warning] No force/torque sensor configured. The VFC will ignore force references. + 21.74sINFOros2_control_node[2026-07-23 23:19:57.504] [info] Controller state will be published at 10 Hz. + 21.74sINFOros2_control_node[2026-07-23 23:19:57.505] [info] VelocityForceController 'on_configure' succeeded. + 22.11sINFOros2-19process has finished cleanly [pid 9547] + 22.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261561 ms (missed cycles : 2).[0m + 22.16sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 22.16sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 22.16sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7e44280l --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_apxlgpk3 --params-file /tmp/launch_params_2yvxuzxi [0m + 22.20sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 22.20sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 22.20sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 22.20sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 22.20sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 22.21sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 22.22sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 22.45sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 22.45sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 22.45sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7e44280l --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_apxlgpk3 --params-file /tmp/launch_params_2yvxuzxi [0m + 22.52sINFOros2-13process has finished cleanly [pid 9531] + 22.53sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 22.54sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 22.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 22.56sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 22.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 22.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 22.90sINFOros2-14process has finished cleanly [pid 9534] + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651288 ms (missed cycles : 4).[0m + 24.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130817 ms (missed cycles : 2).[0m + 25.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886891 ms (missed cycles : 3).[0m + 25.95sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m + 26.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.596666 ms (missed cycles : 4).[0m + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785507 ms (missed cycles : 2).[0m + 27.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784848803.61984277 seconds. + 27.86sINFOmove_groupClearing octomap...[0m ×4 + 27.86sINFOmove_groupOctomap cleared.[0m ×4 + 27.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784848803.63007498 seconds + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230104 ms (missed cycles : 4).[0m + 28.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784848804.19430590 seconds. + 28.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784848804.21446514 seconds + 29.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784848804.76467776 seconds. + 29.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784848804.91598082 seconds + 29.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520980 ms (missed cycles : 2).[0m + 29.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784848805.49497867 seconds. + 29.74sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 29.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 29.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 29.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 29.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 29.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 29.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 29.79sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 29.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784848805.56511855 seconds + 30.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329595 ms (missed cycles : 2).[0m + 30.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784848806.14105415 seconds. + 30.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 30.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 30.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 30.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.552522 ms (missed cycles : 4).[0m + 31.46sINFOobjective_server_nodePlanning for 177 path waypoints. + 31.91sINFOros2_control_nodeReceived new action goal[0m ×13 + 31.92sINFOros2_control_nodeAccepted new action goal[0m ×13 + 32.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259925 ms (missed cycles : 5).[0m + 33.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646723 ms (missed cycles : 4).[0m + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667790 ms (missed cycles : 2).[0m + 35.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.171526 ms (missed cycles : 5).[0m + 36.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962916 ms (missed cycles : 3).[0m + 37.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.569084 ms (missed cycles : 7).[0m + 38.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460072 ms (missed cycles : 3).[0m + 39.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588512 ms (missed cycles : 3).[0m + 40.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.537138 ms (missed cycles : 6).[0m + 41.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947925 ms (missed cycles : 3).[0m + 42.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323332 ms (missed cycles : 5).[0m + 43.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011448 ms (missed cycles : 2).[0m + 45.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169287 ms (missed cycles : 5).[0m + 46.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011589 ms (missed cycles : 3).[0m + 47.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021388 ms (missed cycles : 3).[0m + 48.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305977 ms (missed cycles : 2).[0m + 49.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234249 ms (missed cycles : 3).[0m + 50.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.654764 ms (missed cycles : 7).[0m + 51.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379801 ms (missed cycles : 3).[0m + 52.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108871 ms (missed cycles : 2).[0m + 53.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736925 ms (missed cycles : 4).[0m + 54.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132738 ms (missed cycles : 3).[0m + 55.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006510 ms (missed cycles : 2).[0m + 56.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673543 ms (missed cycles : 4).[0m + 57.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011635 ms (missed cycles : 3).[0m + 58.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965628 ms (missed cycles : 3).[0m + 59.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489054 ms (missed cycles : 2).[0m + 60.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.548092 ms (missed cycles : 5).[0m + 61.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912746 ms (missed cycles : 2).[0m + 62.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755450 ms (missed cycles : 3).[0m + 63.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157523 ms (missed cycles : 3).[0m + 64.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581982 ms (missed cycles : 3).[0m + 65.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964299 ms (missed cycles : 3).[0m + 66.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656886 ms (missed cycles : 3).[0m + 67.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975481 ms (missed cycles : 3).[0m + 68.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321180 ms (missed cycles : 2).[0m + 69.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063464 ms (missed cycles : 3).[0m + 71.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421003 ms (missed cycles : 3).[0m + 72.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953488 ms (missed cycles : 2).[0m + 73.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821468 ms (missed cycles : 6).[0m + 73.54sINFOros2_control_nodeGoal reached, success![0m ×12 + 73.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1784848849.34301448 seconds + 74.13sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1784848849.89326859 seconds. + 74.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.304345 ms (missed cycles : 8).[0m + 75.06sINFOobjective_server_nodeFound path in 0 iterations (2.1641e-05 s). + 75.06sINFOobjective_server_nodePath shortcutter: [X____X] + 75.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 75.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.961007 ms (missed cycles : 6).[0m + 76.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948108 ms (missed cycles : 3).[0m + 77.19sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1784848852.95340896 seconds + 77.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879567 ms (missed cycles : 5).[0m + 77.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1784848853.50615406 seconds. + 78.11sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). + 78.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308468 ms (missed cycles : 3).[0m + 79.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234029 ms (missed cycles : 3).[0m + 79.63sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 80.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760057 ms (missed cycles : 4).[0m + 81.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951771 ms (missed cycles : 3).[0m + 82.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903814 ms (missed cycles : 6).[0m + 83.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.754657 ms (missed cycles : 7).[0m + 84.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.670123 ms (missed cycles : 7).[0m + 85.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097351 ms (missed cycles : 3).[0m + 85.95sINFOros2_control_nodeMuJoCo sim: 0.71% of iterations over time budget. Below 1% expected for non-realtime.[0m + 86.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649524 ms (missed cycles : 2).[0m + 87.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037797 ms (missed cycles : 4).[0m + 88.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753205 ms (missed cycles : 2).[0m + 89.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775634 ms (missed cycles : 2).[0m + 90.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660445 ms (missed cycles : 2).[0m + 91.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603225 ms (missed cycles : 3).[0m + 92.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690584 ms (missed cycles : 2).[0m + 93.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767264 ms (missed cycles : 2).[0m + 94.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062191 ms (missed cycles : 2).[0m + 95.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925651 ms (missed cycles : 2).[0m + 97.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480946 ms (missed cycles : 3).[0m + 98.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781589 ms (missed cycles : 4).[0m + 99.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254423 ms (missed cycles : 2).[0m +100.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771789 ms (missed cycles : 2).[0m +101.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886206 ms (missed cycles : 5).[0m +102.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.771659 ms (missed cycles : 5).[0m +103.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237623 ms (missed cycles : 2).[0m +104.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.010059 ms (missed cycles : 6).[0m +105.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489303 ms (missed cycles : 3).[0m +106.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.408045 ms (missed cycles : 6).[0m +107.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889937 ms (missed cycles : 3).[0m +108.38sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +108.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872839 ms (missed cycles : 2).[0m +109.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953559 ms (missed cycles : 3).[0m +110.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069457 ms (missed cycles : 2).[0m +111.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493142 ms (missed cycles : 4).[0m +112.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735821 ms (missed cycles : 4).[0m +113.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801273 ms (missed cycles : 4).[0m +114.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415918 ms (missed cycles : 5).[0m +115.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.413087 ms (missed cycles : 5).[0m +116.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100598 ms (missed cycles : 6).[0m +117.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840951 ms (missed cycles : 2).[0m +118.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153357 ms (missed cycles : 3).[0m +119.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.046172 ms (missed cycles : 6).[0m +120.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.177686 ms (missed cycles : 4).[0m +121.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754526 ms (missed cycles : 4).[0m +122.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326953 ms (missed cycles : 3).[0m +124.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.475285 ms (missed cycles : 6).[0m +125.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428642 ms (missed cycles : 5).[0m +126.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758087 ms (missed cycles : 3).[0m +127.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752401 ms (missed cycles : 4).[0m +128.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713300 ms (missed cycles : 3).[0m +129.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835000 ms (missed cycles : 3).[0m +130.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034782 ms (missed cycles : 6).[0m +131.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708886 ms (missed cycles : 2).[0m +132.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876788 ms (missed cycles : 2).[0m +133.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282291 ms (missed cycles : 2).[0m +133.99sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1784848909.75681901 seconds +134.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030373 ms (missed cycles : 3).[0m +134.57sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1784848910.33040786 seconds. +134.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). +134.92sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +135.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092898 ms (missed cycles : 6).[0m +136.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498599 ms (missed cycles : 4).[0m +137.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016337 ms (missed cycles : 3).[0m +138.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.537206 ms (missed cycles : 6).[0m +138.55sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1784848914.31056619 seconds +139.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399651 ms (missed cycles : 4).[0m +140.13sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1784848915.89151478 seconds. +140.49sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). +140.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543839 ms (missed cycles : 2).[0m +141.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222435 ms (missed cycles : 3).[0m +141.99sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +142.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647293 ms (missed cycles : 3).[0m +143.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019242 ms (missed cycles : 3).[0m +144.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787642 ms (missed cycles : 3).[0m +145.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.438506 ms (missed cycles : 6).[0m +145.95sINFOros2_control_nodeMuJoCo sim: 1.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 +146.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362752 ms (missed cycles : 3).[0m +147.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.615913 ms (missed cycles : 4).[0m +148.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578042 ms (missed cycles : 2).[0m +149.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513989 ms (missed cycles : 3).[0m +150.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.064330 ms (missed cycles : 6).[0m +151.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888488 ms (missed cycles : 3).[0m +152.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794831 ms (missed cycles : 2).[0m +153.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688208 ms (missed cycles : 4).[0m +155.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587804 ms (missed cycles : 3).[0m +156.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319276 ms (missed cycles : 5).[0m +157.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253245 ms (missed cycles : 4).[0m +158.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774146 ms (missed cycles : 3).[0m +159.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954990 ms (missed cycles : 3).[0m +160.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.450887 ms (missed cycles : 6).[0m +161.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400781 ms (missed cycles : 4).[0m +162.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090886 ms (missed cycles : 2).[0m +163.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.424666 ms (missed cycles : 10).[0m +164.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485017 ms (missed cycles : 2).[0m +165.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.712223 ms (missed cycles : 6).[0m +166.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308535 ms (missed cycles : 5).[0m +167.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271700 ms (missed cycles : 4).[0m +168.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.124028 ms (missed cycles : 7).[0m +169.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296382 ms (missed cycles : 4).[0m +170.45sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1784848946.21190095 seconds +170.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651857 ms (missed cycles : 4).[0m +171.02sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1784848946.78414440 seconds. +171.36sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). +171.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880657 ms (missed cycles : 2).[0m +172.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569969 ms (missed cycles : 3).[0m +172.67sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×4 +173.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862671 ms (missed cycles : 2).[0m +174.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916759 ms (missed cycles : 2).[0m +175.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900078 ms (missed cycles : 2).[0m +176.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111083 ms (missed cycles : 3).[0m +177.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294048 ms (missed cycles : 3).[0m +178.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415215 ms (missed cycles : 3).[0m +179.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053226 ms (missed cycles : 4).[0m +181.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672870 ms (missed cycles : 3).[0m +182.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610513 ms (missed cycles : 3).[0m +183.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713793 ms (missed cycles : 3).[0m +184.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.612092 ms (missed cycles : 7).[0m +185.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506603 ms (missed cycles : 3).[0m +186.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080986 ms (missed cycles : 2).[0m +187.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224573 ms (missed cycles : 3).[0m +188.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336279 ms (missed cycles : 2).[0m +189.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133782 ms (missed cycles : 3).[0m +190.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316126 ms (missed cycles : 4).[0m +191.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545653 ms (missed cycles : 2).[0m +192.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752160 ms (missed cycles : 3).[0m +193.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024653 ms (missed cycles : 3).[0m +194.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875133 ms (missed cycles : 4).[0m +195.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.671264 ms (missed cycles : 5).[0m +196.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438003 ms (missed cycles : 4).[0m +197.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.142388 ms (missed cycles : 4).[0m +198.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.482873 ms (missed cycles : 11).[0m +199.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683561 ms (missed cycles : 2).[0m +200.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.327996 ms (missed cycles : 6).[0m +201.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246265 ms (missed cycles : 3).[0m +202.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178194 ms (missed cycles : 5).[0m +203.45sINFOobjective_server_node[1;33m[pcl::fromPCLPointCloud2] No data to copy. +203.46sERRORobjective_server_nodeSendPointCloudToUI Error: No points left in the point cloud after removing NaN points. +203.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1784848979.22440028 seconds +203.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780000 ms (missed cycles : 5).[0m +204.16sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1784848979.92373085 seconds. +204.51sINFOobjective_server_nodeFound path in 0 iterations (1.11e-06 s). +204.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811528 ms (missed cycles : 3).[0m +205.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678753 ms (missed cycles : 3).[0m +205.95sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +206.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042853 ms (missed cycles : 3).[0m +207.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461168 ms (missed cycles : 4).[0m +208.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018663 ms (missed cycles : 2).[0m +209.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.048821 ms (missed cycles : 6).[0m +210.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255022 ms (missed cycles : 2).[0m +211.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621837 ms (missed cycles : 2).[0m +212.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509118 ms (missed cycles : 4).[0m +213.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816226 ms (missed cycles : 4).[0m +214.41sINFOros2_control_nodeGot request to cancel goal[0m +214.41sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +214.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1784848990.22376776 seconds +215.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1784848990.77538633 seconds. +215.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484935 ms (missed cycles : 3).[0m +215.37sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). +216.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788640 ms (missed cycles : 2).[0m +217.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159816 ms (missed cycles : 4).[0m +218.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134379 ms (missed cycles : 3).[0m +219.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079478 ms (missed cycles : 3).[0m +220.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920587 ms (missed cycles : 2).[0m +221.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739364 ms (missed cycles : 2).[0m +222.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671743 ms (missed cycles : 4).[0m +223.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055755 ms (missed cycles : 2).[0m +224.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169723 ms (missed cycles : 3).[0m +225.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099877 ms (missed cycles : 4).[0m +226.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.232662 ms (missed cycles : 4).[0m +227.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.684760 ms (missed cycles : 7).[0m +228.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344603 ms (missed cycles : 2).[0m +229.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.922826 ms (missed cycles : 5).[0m +230.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398036 ms (missed cycles : 3).[0m +231.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654716 ms (missed cycles : 3).[0m +232.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851949 ms (missed cycles : 3).[0m +233.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086724 ms (missed cycles : 3).[0m +234.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735841 ms (missed cycles : 5).[0m +235.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.533157 ms (missed cycles : 5).[0m +236.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175292 ms (missed cycles : 2).[0m +237.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965532 ms (missed cycles : 4).[0m +238.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668975 ms (missed cycles : 4).[0m +239.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917179 ms (missed cycles : 2).[0m +240.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614448 ms (missed cycles : 4).[0m +241.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.436894 ms (missed cycles : 8).[0m +243.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473033 ms (missed cycles : 2).[0m +244.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039869 ms (missed cycles : 2).[0m +244.32sINFOobjective_server_node[0;m[1;33m[pcl::fromPCLPointCloud2] No data to copy. +244.33sERRORobjective_server_nodeGetContourFromPointCloudSlice Error: Input point cloud is empty. +244.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1784849020.09563684 seconds +244.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1784849020.71729851 seconds. +245.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074696 ms (missed cycles : 3).[0m +245.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). +246.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255489 ms (missed cycles : 3).[0m +247.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.237080 ms (missed cycles : 6).[0m +248.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152234 ms (missed cycles : 3).[0m +249.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964982 ms (missed cycles : 3).[0m +250.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092204 ms (missed cycles : 5).[0m +251.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344448 ms (missed cycles : 4).[0m +252.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074472 ms (missed cycles : 2).[0m +253.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166277 ms (missed cycles : 4).[0m +254.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576925 ms (missed cycles : 3).[0m +255.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784519 ms (missed cycles : 2).[0m +256.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273939 ms (missed cycles : 2).[0m +257.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178835 ms (missed cycles : 2).[0m +258.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.198417 ms (missed cycles : 7).[0m +259.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103893 ms (missed cycles : 2).[0m +260.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301430 ms (missed cycles : 2).[0m +261.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.737525 ms (missed cycles : 7).[0m +262.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.718214 ms (missed cycles : 4).[0m +263.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071409 ms (missed cycles : 5).[0m +264.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304664 ms (missed cycles : 2).[0m +265.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742799 ms (missed cycles : 4).[0m +266.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197856 ms (missed cycles : 3).[0m +267.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163813 ms (missed cycles : 2).[0m +268.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628920 ms (missed cycles : 3).[0m +269.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040736 ms (missed cycles : 2).[0m +270.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621729 ms (missed cycles : 2).[0m +271.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017776 ms (missed cycles : 3).[0m +272.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110804 ms (missed cycles : 3).[0m +273.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964541 ms (missed cycles : 3).[0m +274.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.469774 ms (missed cycles : 6).[0m +275.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219802 ms (missed cycles : 4).[0m +276.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232666 ms (missed cycles : 2).[0m +277.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210937 ms (missed cycles : 3).[0m +278.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946231 ms (missed cycles : 3).[0m +280.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701230 ms (missed cycles : 2).[0m +281.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492974 ms (missed cycles : 2).[0m +282.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337949 ms (missed cycles : 3).[0m +283.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897535 ms (missed cycles : 4).[0m +284.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363020 ms (missed cycles : 4).[0m +285.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.470924 ms (missed cycles : 6).[0m +286.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.432341 ms (missed cycles : 9).[0m +287.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394152 ms (missed cycles : 4).[0m +288.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566491 ms (missed cycles : 3).[0m +289.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152077 ms (missed cycles : 2).[0m +290.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299777 ms (missed cycles : 2).[0m +291.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505805 ms (missed cycles : 3).[0m +292.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825356 ms (missed cycles : 2).[0m +293.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586503 ms (missed cycles : 2).[0m +294.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481223 ms (missed cycles : 2).[0m +295.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183852 ms (missed cycles : 3).[0m +296.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726926 ms (missed cycles : 3).[0m +297.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064403 ms (missed cycles : 3).[0m +298.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523611 ms (missed cycles : 3).[0m +299.51sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1784849075.27753568 seconds +299.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552236 ms (missed cycles : 3).[0m +300.09sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1784849075.85248542 seconds. +300.43sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). +300.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239478 ms (missed cycles : 2).[0m +301.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519938 ms (missed cycles : 4).[0m +302.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.583296 ms (missed cycles : 5).[0m +303.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662563 ms (missed cycles : 3).[0m +304.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112056 ms (missed cycles : 3).[0m +304.72sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). +304.75sINFOobjective_server_nodePath shortcutter: [X__________________X] +304.79sINFOobjective_server_nodeFound path in 0 iterations (1.2e-06 s). +304.82sINFOobjective_server_nodePath shortcutter: [X____________________X] +304.86sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). +304.92sINFOobjective_server_nodePath shortcutter: [X_________________________X] +304.96sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). +305.11sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +305.16sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). +305.36sINFOobjective_server_nodeFound path in 29 iterations (0.0254575 s). +305.59sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] +305.64sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). +305.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954581 ms (missed cycles : 5).[0m +306.00sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +306.04sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). +306.36sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +306.60sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +306.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539867 ms (missed cycles : 3).[0m +307.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520875 ms (missed cycles : 2).[0m +308.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335195 ms (missed cycles : 2).[0m +309.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958232 ms (missed cycles : 2).[0m +310.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094824 ms (missed cycles : 3).[0m +311.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131485 ms (missed cycles : 3).[0m +312.60sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1784849088.36898470 seconds +312.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800498 ms (missed cycles : 2).[0m +313.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1784849088.96654701 seconds. +313.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621447 ms (missed cycles : 3).[0m +314.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1784849090.19671559 seconds +314.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.681914 ms (missed cycles : 7).[0m +314.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1784849090.74654126 seconds. +315.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1784849091.38670778 seconds +315.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +316.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994819 ms (missed cycles : 3).[0m +316.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689523 ms (missed cycles : 3).[0m +317.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399116 ms (missed cycles : 3).[0m +318.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894574 ms (missed cycles : 3).[0m +320.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398294 ms (missed cycles : 5).[0m +321.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626135 ms (missed cycles : 4).[0m +321.70sERRORweb_video_auth_proxy-36process[web_video_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.71sERRORweb_bridge_auth_proxy-35process[web_bridge_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.71sERRORweb_video_server-34process[web_video_server-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.71sERRORtf2_web_republisher_node-33process[tf2_web_republisher_node-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.72sERRORweb_bridge-32process[web_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.72sERRORui_teleop_bridge-31process[ui_teleop_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.73sERRORexecute_objective_bridge-30process[execute_objective_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.73sINFOweb_video_auth_proxy-36sending signal 'SIGTERM' to process[web_video_auth_proxy-36] +321.75sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.76sERRORweb_video_auth_proxy-36process has died [pid 9584, 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']. +321.76sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.76sERRORobjective_server_node_main-27process[objective_server_node_main-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.77sINFOweb_bridge_auth_proxy-35sending signal 'SIGTERM' to process[web_bridge_auth_proxy-35] +321.79sERRORmove_end_effector_resampler_node-26process[move_end_effector_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.79sERRORweb_bridge_auth_proxy-35process has died [pid 9583, 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']. +321.79sERRORmove_joint_resampler_node-25process[move_joint_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.80sERRORwaypoint_manager_node-24process[waypoint_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.80sERRORparameter_manager_node-23process[parameter_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.81sERRORmove_group-22process[move_group-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.81sERRORros2_control_node-10process[ros2_control_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.82sERRORfixed_lag_smoother_node-9process[fixed_lag_smoother_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.82sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.82sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.83sERRORodom_qos_relay.py-6process[odom_qos_relay.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.83sERRORamcl_odom_gate-5process[amcl_odom_gate-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.83sERRORslip_aware_odom-4process[slip_aware_odom-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.84sERRORodom_world_drift.py-3process[odom_world_drift.py-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.84sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.85sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.85sINFOweb_video_server-34sending signal 'SIGTERM' to process[web_video_server-34] +321.88sINFOtf2_web_republisher_node-33sending signal 'SIGTERM' to process[tf2_web_republisher_node-33] +321.90sINFOweb_bridge-32sending signal 'SIGTERM' to process[web_bridge-32] +321.93sINFOui_teleop_bridge-31sending signal 'SIGTERM' to process[ui_teleop_bridge-31] +321.96sINFOexecute_objective_bridge-30sending signal 'SIGTERM' to process[execute_objective_bridge-30] +321.98sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +322.00sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] +322.03sINFOobjective_server_node_main-27sending signal 'SIGTERM' to process[objective_server_node_main-27] +322.06sINFOmove_end_effector_resampler_node-26sending signal 'SIGTERM' to process[move_end_effector_resampler_node-26] +322.08sINFOlaunchprocess[web_bridge_auth_proxy-35] was required: shutting down launched system +322.09sINFOmove_joint_resampler_node-25sending signal 'SIGTERM' to process[move_joint_resampler_node-25] +322.13sINFOwaypoint_manager_node-24sending signal 'SIGTERM' to process[waypoint_manager_node-24] +322.15sINFOweb_video_server-34process has finished cleanly [pid 9582] +322.16sINFOparameter_manager_node-23sending signal 'SIGTERM' to process[parameter_manager_node-23] +322.19sINFOtf2_web_republisher_node-33process has finished cleanly [pid 9581] +322.20sINFOmove_group-22sending signal 'SIGTERM' to process[move_group-22] +322.24sINFOros2_control_node-10sending signal 'SIGTERM' to process[ros2_control_node-10] +322.26sINFOfixed_lag_smoother_node-9sending signal 'SIGTERM' to process[fixed_lag_smoother_node-9] +322.27sERRORui_teleop_bridge-31process has died [pid 9578, 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_p6akwlth']. +322.27sERRORmove_group-22process has died [pid 9551, 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_9ixgodb8 --params-file /tmp/launch_params_0pfgeoyb --params-file /tmp/launch_params_fx9y7uzd --params-file /tmp/launch_params_dyqju__r --params-file /tmp/launch_params_cryshbq8 --params-file /tmp/launch_params_wit8tsle']. +322.29sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] +322.29sINFOcomponent_container_mt-29process has finished cleanly [pid 9576] +322.31sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +322.34sINFOodom_qos_relay.py-6sending signal 'SIGTERM' to process[odom_qos_relay.py-6] +322.35sINFOexecute_objective_bridge-30process has finished cleanly [pid 9577] +322.37sINFOamcl_odom_gate-5sending signal 'SIGTERM' to process[amcl_odom_gate-5] +322.39sINFOslip_aware_odom-4sending signal 'SIGTERM' to process[slip_aware_odom-4] +322.42sINFOodom_world_drift.py-3sending signal 'SIGTERM' to process[odom_world_drift.py-3] +322.42sERRORobjective_server_node_main-27process has died [pid 9574, 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_4_28vvxs --params-file /tmp/launch_params_f2mb5wx4 --params-file /tmp/launch_params_lp0wty7m --params-file /tmp/launch_params_lvu9wpeu --params-file /tmp/launch_params_92_20gbk --params-file /tmp/launch_params_yusklm80 --params-file /tmp/launch_params_rz2852h3 --params-file /tmp/launch_params_dmbb_i77 --params-file /tmp/launch_params_735i3qjl']. +322.44sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +322.46sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +322.46sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +322.46sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +322.46sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +322.46sERRORui_teleop_bridgeTraceback (most recent call last): +322.46sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +322.46sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +322.46sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +322.46sINFOui_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 +322.46sINFOui_teleop_bridgerclpy.shutdown() +322.46sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +322.46sINFOui_teleop_bridge_shutdown(context=context) +322.46sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +322.46sINFOui_teleop_bridgecontext.shutdown() +322.46sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +322.47sINFOui_teleop_bridgeself.__context.shutdown() +322.47sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +322.47sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +322.47sINFOobjective_server_node[0;m[0m[INFO] [2026-07-23 23:24:57.797] signal_handler(SIGINT/SIGTERM)[0m +322.47sINFOcomponent_container_mtStopping planning scene monitor[0m +322.47sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +322.47sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +322.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598193 ms (missed cycles : 4).[0m +322.47sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +322.48sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +322.48sINFOlaunchprocess[tf2_web_republisher_node-33] was required: shutting down launched system +322.48sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +322.48sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +322.48sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +322.48sERRORmove_groupwhat(): context cannot be slept with because it's invalid +322.48sERRORmove_groupStack trace (most recent call last) in thread 10215: +322.48sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +322.48sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4fc3758a63, in __clone +322.48sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4fc36cbaa3, in +322.48sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4fc395ddb3, in +322.48sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f4fc40a0ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +322.48sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4fc3cd04d0, in rclcpp::Rate::sleep() +322.48sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4fc3c23a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +322.48sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4fc3be8a71, in +322.48sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4fc392c390, in __cxa_throw +322.48sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4fc3916a54, in std::terminate() +322.48sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4fc392c0d9, in +322.48sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4fc3916ff4, in +322.48sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4fc36578fe, in abort +322.48sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4fc367427d, in raise +322.48sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4fc36cdb2c, in pthread_kill +322.48sERRORmove_groupAborted (Signal sent by tkill() 9551 0) +322.48sINFOobjective_server_node[2026-07-23 23:24:57.994] [moveit_pro_license] [info] +322.48sINFOobjective_server_node* Application has successfully terminated +322.48sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +322.48sINFOros2_control_nodeShutdown request received....[0m +322.48sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +322.48sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +322.48sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +322.48sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +322.48sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +322.48sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +322.48sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +322.48sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +322.48sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +322.48sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +322.48sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +322.48sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +322.48sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +322.48sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +322.48sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +322.48sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +322.49sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +322.49sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +322.49sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +322.49sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +322.49sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +322.49sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +322.49sINFOros2_control_nodeShutting down the controller manager.[0m +322.49sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +322.49sERRORobjective_server_nodeStack trace (most recent call last): +322.49sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +322.49sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55581975f6a4, in _start +322.49sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f95dc11d28a, in __libc_start_main +322.49sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f95dc11d1d0, in +322.49sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f95dc13abbd, in exit +322.49sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f95dc13aa75, in +322.49sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f95dc6098f5, in spdlog::details::registry::~registry() +322.49sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55581975fd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +322.49sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555819766315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +322.49sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5558197655a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +322.49sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555819761b7b, in spdlog_ros::RosSink::~RosSink() +322.49sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55581975fd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +322.49sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f95dccbf454, in rclcpp::Node::~Node() +322.49sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f95dcc7a515, in +322.49sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f95dccbdd20, in +322.49sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f95dccbdc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +322.49sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f95dcc7a5d9, in +322.49sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f95dcc7f161, in rclcpp::CallbackGroup::~CallbackGroup() +322.49sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f95a1891090]) +322.49sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +322.50sERRORodom_qos_relay.pyTraceback (most recent call last): +322.50sINFOodom_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> +322.50sINFOodom_qos_relay.pymain() +322.50sINFOodom_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 +322.50sINFOodom_qos_relay.pyrclpy.spin(node) +322.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +322.50sINFOodom_qos_relay.pyexecutor.spin_once() +322.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +322.50sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +322.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +322.50sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +322.50sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +322.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +322.50sINFOodom_qos_relay.pyreturn next(self._cb_iter) +322.50sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +322.50sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +322.50sINFOodom_qos_relay.pyraise ExternalShutdownException() +322.50sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +322.50sINFOamcl_odom_gatesignal_handler(SIGINT/SIGTERM)[0m +322.50sINFOslip_aware_odomsignal_handler(SIGINT/SIGTERM)[0m +322.50sINFOlaunchprocess[objective_server_node_main-27] was required: shutting down launched system +322.50sERRORodom_world_drift.pyTraceback (most recent call last): +322.50sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 142, in <module> +322.50sINFOodom_world_drift.pymain() +322.50sINFOodom_world_drift.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_world_drift.py", line 133, in main +322.50sINFOodom_world_drift.pyrclpy.spin(node) +322.50sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +322.50sINFOodom_world_drift.pyexecutor.spin_once() +322.50sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +322.50sINFOodom_world_drift.pyself._spin_once_impl(timeout_sec) +322.50sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +322.50sINFOodom_world_drift.pyhandler, entity, node = self.wait_for_ready_callbacks( +322.50sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +322.50sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +322.50sINFOodom_world_drift.pyreturn next(self._cb_iter) +322.50sINFOodom_world_drift.py^^^^^^^^^^^^^^^^^^^ +322.50sINFOodom_world_drift.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +322.50sINFOodom_world_drift.pyraise ExternalShutdownException() +322.50sINFOodom_world_drift.pyrclpy.executors.ExternalShutdownException +322.50sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m +322.50sINFOros2_control_nodeAsync messages lost 0[0m ×2 +322.50sINFOros2_control_nodepublish_async_failures_ 5[0m +322.50sINFOros2_control_nodepublish_async_failures_ 4[0m +322.65sERRORcomponent_container_isolated-1process has died [pid 9452, 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_lp3hh5iz --params-file /tmp/launch_params_hmnb9v56 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +323.13sINFOmove_end_effector_resampler_node-26process has finished cleanly [pid 9572] +323.16sINFOmove_joint_resampler_node-25process has finished cleanly [pid 9571] +323.26sINFOparameter_manager_node-23process has finished cleanly [pid 9552] +323.26sINFOwaypoint_manager_node-24process has finished cleanly [pid 9570] +323.28sINFOcomponent_container_mt-28process has finished cleanly [pid 9575] +323.33sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9459] +323.36sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9458] +323.39sINFOfixed_lag_smoother_node-9process has finished cleanly [pid 9460] +323.44sINFOslip_aware_odom-4process has finished cleanly [pid 9455] +323.44sERRORodom_qos_relay.py-6process has died [pid 9457, 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']. +323.47sINFOstatic_transform_publisher-2process has finished cleanly [pid 9453] +324.41sINFOamcl_odom_gate-5process has finished cleanly [pid 9456] +324.50sERRORodom_world_drift.py-3process has died [pid 9454, 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_lrseql54']. +324.84sINFOweb_bridge-32process has finished cleanly [pid 9579] +324.84sINFOlaunchprocess[web_bridge-32] was required: shutting down launched system +325.06sINFOros2_control_node-10process has finished cleanly [pid 9527] +333.19sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-23-23-25-05-767168-776b80e70aef-13536 ×2 +345.82sINFOstatic_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' +345.91sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +345.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +345.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +345.96sINFOstate_estimatorReceived a set_pose request (stamp: 1784849121726900108, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) +345.97sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +345.99sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +346.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +346.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +346.04sINFOcontroller_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. +346.06sWARNstate_estimatorNo valid state data yet. Delaying tf broadcast. +346.11sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +346.12sINFOros2_control_node-10process started with pid [13673] ×2 +346.12sINFOmove_group-22process started with pid [13685] ×2 +346.12sINFOparameter_manager_node-23process started with pid [13686] ×2 +346.12sINFOwaypoint_manager_node-24process started with pid [13711] ×2 +346.12sINFOcontroller_serverCreating controller server +346.12sINFOmove_joint_resampler_node-25process started with pid [13712] ×2 +346.12sINFOmove_end_effector_resampler_node-26process started with pid [13713] ×2 +346.12sINFOobjective_server_node_main-27process started with pid [13714] ×2 +346.12sINFOcomponent_container_mt-28process started with pid [13717] ×2 +346.12sINFOcomponent_container_mt-29process started with pid [13718] ×2 +346.12sINFOexecute_objective_bridge-30process started with pid [13719] ×2 +346.12sINFOui_teleop_bridge-31process started with pid [13720] ×2 +346.12sINFOweb_bridge-32process started with pid [13721] ×2 +346.12sINFOtf2_web_republisher_node-33process started with pid [13722] ×2 +346.12sINFOweb_video_server-34process started with pid [13723] ×2 +346.12sINFOweb_bridge_auth_proxy-35process started with pid [13724] ×2 +346.12sINFOweb_video_auth_proxy-36process started with pid [13725] ×2 +346.14sINFOlocal_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. +346.14sINFOcomponent_container_isolated-1process started with pid [13586] ×2 +346.15sINFOstatic_transform_publisher-2process started with pid [13587] ×2 +346.15sINFOodom_world_drift.py-3process started with pid [13588] ×2 +346.15sINFOslip_aware_odom-4process started with pid [13589] ×2 +346.15sINFOamcl_odom_gate-5process started with pid [13590] ×2 +346.15sINFOodom_qos_relay.py-6process started with pid [13591] ×2 +346.15sINFOscan_to_scan_filter_chain-7process started with pid [13592] ×2 +346.15sINFOscan_to_scan_filter_chain-8process started with pid [13593] ×2 +346.15sINFOfixed_lag_smoother_node-9process started with pid [13594] ×2 +346.15sINFOros2-11process started with pid [13674] ×2 +346.15sINFOros2-12process started with pid [13675] ×2 +346.15sINFOros2-13process started with pid [13676] ×2 +346.15sINFOlocal_costmap.local_costmapCreating Costmap +346.15sINFOros2-14process started with pid [13677] ×2 +346.15sINFOros2-15process started with pid [13678] ×2 +346.15sINFOros2-16process started with pid [13679] ×2 +346.15sINFOros2-17process started with pid [13680] ×2 +346.15sINFOros2-18process started with pid [13681] ×2 +346.15sINFOros2-19process started with pid [13682] ×2 +346.15sINFOros2-20process started with pid [13683] ×2 +346.15sINFOros2-21process started with pid [13684] ×2 +346.15sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +346.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +346.16sINFOcontroller_managerupdate rate is 600 Hz +346.16sINFOcontroller_managerOverruns handling is : enabled +346.16sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +346.16sWARNcontroller_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. +346.24sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +346.24sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +346.24sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +346.24sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +346.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.032616 ms (missed cycles : 5). +346.25sINFOmap_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. +346.25sINFOmap_serverCreating +346.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +346.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +346.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +346.27sINFOsmoother_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. +346.29sINFOsmoother_serverCreating smoother server +346.29sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +346.30sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +346.30sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +346.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +346.30sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +346.32sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +346.34sINFOplanner_serverCreating +346.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.032616 ms (missed cycles : 5).[0m ×2 +346.37sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +346.38sINFOglobal_costmap.global_costmapCreating Costmap +346.39sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +346.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +346.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +346.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +346.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +346.43sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +346.43sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +346.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +346.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +346.46sINFObehavior_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. +346.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +346.49sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +346.49sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +346.51sINFOlifecycle_manager_localizationCreating +346.52sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +346.52sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +346.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +346.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +346.54sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +346.54sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +346.54sINFOmap_serverConfiguring +346.55sINFObt_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. +346.56sINFOrobot_state_publisherRobot initialized +346.56sINFOcontroller_managerReceived robot description from topic. +346.56sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +346.58sINFObt_navigatorCreating +346.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +346.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +346.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +346.61sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +346.63sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +346.63sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +346.63sINFOamclConfiguring +346.64sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +346.64sINFOmap_serverActivating +346.64sINFOmap_serverCreating bond (map_server) to lifecycle manager. +346.65sINFOwaypoint_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. +346.65sINFOwaypoint_followerCreating +346.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +346.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +346.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +346.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +346.69sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +346.73sINFOvelocity_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. +346.76sINFOlifecycle_manager_localizationServer map_server connected with bond. +346.76sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +346.76sINFOamclActivating +346.76sINFOamclSubscribed to initial_pose_topic: /initialpose +346.76sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +346.78sINFOlifecycle_manager_navigationCreating +346.79sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +346.79sINFOamclSubscribed to map_topic: /map +346.79sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +346.79sINFOamclSubscribed to scan_topic: /scan_merged +346.80sINFOamclCreated reinitialize_global_localization service +346.80sINFOamclCreated request_nomotion_update service +346.80sINFOamclA new map was received +346.80sINFOamclInitializing particle filter instance +346.83sWARNlaser_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. +346.84sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +346.84sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +346.84sINFOcontroller_serverConfiguring controller interface +346.84sINFOcontroller_servergetting progress checker plugins.. +346.84sINFOcontroller_servergetting goal checker plugins.. +346.84sINFOcontroller_serverController frequency set to 20.0000Hz +346.84sINFOlocal_costmap.local_costmapConfiguring +346.84sWARNlaser_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. +346.86sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +346.88sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +346.93sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +346.93sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +346.93sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +346.93sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.589675 seconds +346.93sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +346.93sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +346.93sINFOmove_groupLoaded robot model in 0.589675 seconds[0m ×2 +346.96sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +346.96sINFOcontroller_serverController Server has progress_checker progress checkers available. +346.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +346.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +346.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +346.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +346.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +346.96sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +346.96sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +346.96sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +346.96sINFOweb_video_serverWaiting For connections on 127.0.0.1:13202 +346.97sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +346.97sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +346.97sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +346.99sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +347.00sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +347.00sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +347.01sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +347.01sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +347.01sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +347.01sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +347.01sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +347.01sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +347.02sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +347.02sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +347.02sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +347.02sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +347.02sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +347.03sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +347.03sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +347.03sINFOcontroller_serverOptimizer reset +347.04sINFOcontroller_serverController Server has FollowPath controllers available. +347.05sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +347.05sINFOsmoother_serverConfiguring smoother server +347.07sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +347.08sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +347.09sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +347.09sINFOplanner_serverConfiguring +347.09sINFOglobal_costmap.global_costmapConfiguring +347.10sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +347.11sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +347.11sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +347.11sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +347.12sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +347.15sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +347.15sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +347.15sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +347.21sFATALplanner_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 +347.21sINFOplanner_serverCleaning up +347.21sINFOglobal_costmap.global_costmapCleaning up +347.22sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +347.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.702400 ms (missed cycles : 6). +347.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.702400 ms (missed cycles : 6).[0m ×2 +347.34sINFOamclParticle filter initialization completed +347.34sINFOamclInitializing particles from estimated pose and covariance +347.34sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 +347.37sINFOlifecycle_manager_localizationServer amcl connected with bond. +347.37sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +347.37sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +347.45sINFOamclThe bond connection to the lifecycle manager is now fully formed +347.55sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +347.55sWARNmove_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. +347.55sWARNmove_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. +347.55sWARNmove_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. +347.55sWARNmove_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. +347.55sWARNmove_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. +347.55sWARNmove_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. +347.55sWARNmove_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. +347.55sWARNmove_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. +347.55sWARNmove_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. +347.55sWARNmove_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. +347.99sINFOmove_group[2026-07-23 23:25:23.752] [moveit_pro_license] [info] ×2 +347.99sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +348.18sINFOwaypoint_manager_nodeLoaded robot model in 0.27376 seconds[0m ×2 +348.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105727 ms (missed cycles : 2). +348.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105727 ms (missed cycles : 2).[0m ×2 +348.48sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +348.48sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +348.49sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +348.49sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +348.49sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +348.49sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +348.49sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +348.50sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +348.50sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +348.50sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +348.50sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +348.57sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +348.57sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +348.61sWARNwaypoint_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. +348.61sWARNwaypoint_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. +348.62sWARNwaypoint_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. +348.62sWARNwaypoint_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. +348.62sWARNwaypoint_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. +348.62sWARNwaypoint_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. +348.62sWARNwaypoint_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. +348.62sWARNwaypoint_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. +348.62sWARNwaypoint_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. +348.62sWARNwaypoint_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. +348.62sWARNwaypoint_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. +348.62sWARNwaypoint_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. +348.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +348.63sWARNwaypoint_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. +348.63sWARNwaypoint_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. +348.63sWARNwaypoint_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. +348.63sWARNwaypoint_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. +348.64sWARNwaypoint_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. +348.64sWARNwaypoint_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. +348.64sWARNwaypoint_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. +348.64sWARNwaypoint_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. +348.94sINFOwaypoint_manager_node[2026-07-23 23:25:24.705] [moveit_pro_license] [info] ×2 +349.25sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +349.26sINFOcontroller_managerActivating component 'ur_mujoco_control'. +349.26sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +349.26sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +349.30sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +349.30sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +349.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +349.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +349.50sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y +349.50sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y [0m ×2 +349.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677689 ms (missed cycles : 2). +349.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677689 ms (missed cycles : 2).[0m ×2 +349.62sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +349.62sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +349.62sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +349.62sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +349.63sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +349.63sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +349.64sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +349.72sINFOobjective_server_node[2026-07-23 23:25:25.483] [moveit_pro_license] [info] ×2 +349.79sINFOobjective_server_nodeLoaded robot model in 0.025 seconds[0m ×2 +349.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +349.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +349.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +349.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +349.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +349.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +349.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +349.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +349.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +349.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +349.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +349.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +349.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +349.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +349.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +349.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +349.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +349.94sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +349.99sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +350.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +350.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +350.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y +350.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y [0m ×2 +350.06sINFOros2-17process has finished cleanly [pid 13680] ×2 +350.09sINFOmove_groupMoveGroup debug mode is ON +350.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +350.11sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +350.11sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +350.11sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +350.11sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +350.12sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +350.13sINFOcontroller_managerSuccessfully switched controllers! ×8 +350.13sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +350.16sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +350.16sWARNobjective_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. +350.16sWARNobjective_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. +350.16sWARNobjective_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. +350.16sWARNobjective_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. +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +350.16sWARNobjective_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. +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +350.16sWARNobjective_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. +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +350.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +350.16sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +350.16sWARNobjective_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. +350.16sWARNobjective_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. +350.16sWARNobjective_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. +350.16sWARNobjective_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. +350.20sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +350.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +350.20sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +350.20sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +350.21sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +350.21sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) +350.21sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +350.29sINFOmove_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
********************************************************
+350.29sINFOamclParticle filter update iteration stats: 2000 particles 723 points - 4.529ms +350.47sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +350.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +350.48sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +350.50sINFOros2-13process has finished cleanly [pid 13676] ×2 +350.51sINFOstreaming_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) +350.51sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1784849125.154 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +350.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401027 ms (missed cycles : 4). +350.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401027 ms (missed cycles : 4).[0m ×2 +350.63sINFOcomponent_container_mtLoaded robot model in 0.40804 seconds[0m ×2 +350.67sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +350.67sINFOcontroller_managerLoading controller 'velocity_force_controller' +350.80sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y +350.80sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y [0m ×2 +350.87sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +350.88sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +350.98sWARNplanning_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. +350.98sWARNplanning_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. +350.98sWARNplanning_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. +350.98sWARNplanning_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. +350.98sWARNplanning_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. +350.98sWARNplanning_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. +350.98sWARNplanning_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. +350.98sWARNplanning_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. +350.98sWARNplanning_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. +350.99sWARNplanning_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. +350.99sWARNplanning_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. +350.99sWARNplanning_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. +350.99sWARNplanning_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. +350.99sWARNplanning_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. +350.99sWARNplanning_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. +350.99sWARNplanning_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. +350.99sWARNplanning_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. +350.99sWARNplanning_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. +350.99sWARNplanning_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. +350.99sWARNplanning_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. +350.99sWARNplanning_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. +350.99sWARNplanning_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. +351.00sWARNplanning_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. +351.00sWARNplanning_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. +351.00sWARNplanning_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. +351.00sWARNplanning_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. +351.00sWARNplanning_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. +351.00sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +351.26sINFOros2_control_node[2026-07-23 23:25:27.023] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +351.26sINFOros2_control_node[2026-07-23 23:25:27.026] [info] Controller state will be published at 10 Hz. ×2 +351.26sINFOros2_control_node[2026-07-23 23:25:27.028] [info] VelocityForceController 'on_configure' succeeded. ×2 +351.31sINFOcomponent_container_mt[2026-07-23 23:25:27.071] [moveit_pro_license] [info] ×2 +351.61sINFOros2-18process has finished cleanly [pid 13681] ×2 +351.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101918 ms (missed cycles : 2). +351.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101918 ms (missed cycles : 2).[0m ×2 +351.62sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +351.62sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +351.63sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y +351.63sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y [0m ×2 +351.70sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +351.70sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +351.71sINFOforce_torque_sensor_broadcasterconfigure successful +351.72sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +351.72sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +352.04sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +352.04sINFOcontroller_managerLoading controller 'joint_velocity_controller' +352.06sINFOros2-11process has finished cleanly [pid 13674] ×2 +352.16sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y +352.16sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y [0m ×2 +352.24sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +352.24sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +352.60sINFOros2_control_node[2026-07-23 23:25:28.368] [info] Controller state will be published at 20 Hz. ×2 +352.60sINFOros2_control_node[2026-07-23 23:25:28.369] [info] JointVelocityController 'on_configure' succeeded. ×2 +352.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678648 ms (missed cycles : 2). +352.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678648 ms (missed cycles : 2).[0m ×2 +352.99sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +352.99sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +352.99sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +352.99sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y +352.99sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y [0m ×2 +353.01sINFOros2-20process has finished cleanly [pid 13683] ×2 +353.03sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +353.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +353.37sINFOros2_control_node[2026-07-23 23:25:29.138] [info] Controller state will be published at 20 Hz. ×2 +353.38sINFOros2_control_node[2026-07-23 23:25:29.139] [info] JointVelocityController 'on_configure' succeeded. ×2 +353.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549880 ms (missed cycles : 3). +353.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549880 ms (missed cycles : 3).[0m ×2 +353.72sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +353.72sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +353.72sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y +353.72sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y [0m ×2 +353.76sINFOros2-21process has finished cleanly [pid 13684] ×2 +353.78sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +353.79sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +353.79sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +353.80sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +354.12sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +354.12sINFOcontroller_managerLoading controller 'platform_velocity_controller' +354.13sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y +354.13sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y [0m ×2 +354.16sINFOros2-12process has finished cleanly [pid 13675] ×2 +354.21sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +354.21sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +354.21sINFOplatform_velocity_controllerconfigure successful +354.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +354.22sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +354.59sINFOros2-14process has finished cleanly [pid 13677] ×2 +354.63sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +354.63sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +354.63sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +354.63sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y +354.64sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y [0m ×2 +354.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075419 ms (missed cycles : 2). +354.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075419 ms (missed cycles : 2).[0m ×2 +354.68sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +354.68sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +354.69sINFOplatform_velocity_controller_nav2configure successful +354.77sWARNstate_estimatorOptimization exceeded the configured duration by 4654448ns +355.22sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +355.22sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +355.22sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y +355.23sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y [0m ×2 +355.24sINFOros2-16process has finished cleanly [pid 13679] ×2 +355.31sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +355.31sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +355.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.062072 ms (missed cycles : 7). +355.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.062072 ms (missed cycles : 7).[0m ×2 +355.68sINFOros2_control_node[2026-07-23 23:25:31.447] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +355.69sINFOros2_control_node[2026-07-23 23:25:31.450] [info] Controller state will be published at 10 Hz. ×2 +355.69sINFOros2_control_node[2026-07-23 23:25:31.452] [info] VelocityForceController 'on_configure' succeeded. ×2 +356.08sINFOros2-19process has finished cleanly [pid 13682] ×2 +356.09sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +356.09sINFOcontroller_managerLoading controller 'vacuum_gripper' +356.10sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y +356.10sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wnov7fro --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_5_uxm99r --params-file /tmp/launch_params_l5bt3a9y [0m ×2 +356.12sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +356.18sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +356.18sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +356.18sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +356.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +356.21sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +356.53sINFOros2-15process has finished cleanly [pid 13678] ×2 +356.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.561204 ms (missed cycles : 7). +356.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.561204 ms (missed cycles : 7).[0m ×2 +357.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3). +357.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3).[0m ×2 +358.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3). +358.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3).[0m ×2 +359.31sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 +359.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). +359.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 +360.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). +360.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 +361.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 +361.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +361.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +361.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 +361.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). +361.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 +362.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 +362.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 +362.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 +362.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 +363.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). +363.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 +363.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 +363.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +363.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +363.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +363.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +363.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +363.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +363.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 +363.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 +364.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +364.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +364.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +364.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). +364.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 22 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.98sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.76sINFOmove_groupClearing octomap...[0m ×2 + 3.76sINFOmove_groupOctomap cleared.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 5.63sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 25 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.76sINFOmove_groupClearing octomap...[0m ×2 + 3.76sINFOmove_groupOctomap cleared.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 5.63sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 7.05sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 7.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.76sINFOmove_groupClearing octomap...[0m ×2 + 3.76sINFOmove_groupOctomap cleared.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 5.63sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.76sINFOmove_groupClearing octomap...[0m ×2 + 3.76sINFOmove_groupOctomap cleared.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 5.63sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.76sINFOmove_groupClearing octomap...[0m ×2 + 3.76sINFOmove_groupOctomap cleared.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 5.63sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670963 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.76sINFOmove_groupClearing octomap...[0m ×2 + 3.76sINFOmove_groupOctomap cleared.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 5.63sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033230 ms (missed cycles : 3).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.56sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.98sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 22 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674586 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674586 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 19 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.23% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859265 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911749 ms (missed cycles : 3).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1784849137.27358556 seconds. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1784849137.28382564 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328033 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1784849137.84230375 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1784849137.85245323 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1784849138.40508771 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1784849138.55581594 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.687636 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1784849139.13799262 seconds. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1784849139.19815493 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1784849139.75113773 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.476582 ms (missed cycles : 7).[0m ×2 + 5.50sWARNstate_estimatorOptimization exceeded the configured duration by 39256782ns + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272084 ms (missed cycles : 5).[0m ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||